GjkCollisionState Struct Reference

#include <gjk.h>

Inheritance diagram for GjkCollisionState:


Public Member Functions
void	compute_det ()
bool	valid (int s)
void	compute_vector (int bits, VectorF &v)
bool	closest (VectorF &v)
bool	degenerate (const VectorF &w)
void	nextBit ()
void	swap ()
void	reset (const MatrixF &a2w, const MatrixF &b2w)
	GjkCollisionState ()
	~GjkCollisionState ()
void	set (Convex a, Convex b, const MatrixF &a2w, const MatrixF &b2w)
void	getCollisionInfo (const MatrixF &mat, Collision *info)
void	getClosestPoints (Point3F &p1, Point3F &p2)
bool	intersect (const MatrixF &a2w, const MatrixF &b2w)
F32	distance (const MatrixF &a2w, const MatrixF &b2w, const F32 dontCareDist, const MatrixF w2a=NULL, const MatrixF _w2b=NULL)
Public Attributes
Temporary values
Point3F	p [4]
	support points of object A in local coordinates
Point3F	q [4]
	support points of object B in local coordinates
VectorF	y [4]
	support points of A - B in world coordinates
S32	bits
	identifies current simplex
S32	all_bits
	all_bits = bits \| last_bit
F32	det [16][4]
	cached sub-determinants
F32	dp [4][4]
	cached dot products
S32	last
	identifies last found support point
S32	last_bit
	last_bit = 1<<last

Constructor & Destructor Documentation

GjkCollisionState::GjkCollisionState ( )

GjkCollisionState::~GjkCollisionState ( )

void GjkCollisionState::compute_det ( )

bool GjkCollisionState::valid ( int s )

void GjkCollisionState::compute_vector	(	int	bits,
		VectorF &	v
	)

bool GjkCollisionState::closest ( VectorF & v )

bool GjkCollisionState::degenerate ( const VectorF & w )

void GjkCollisionState::nextBit ( )

void GjkCollisionState::swap ( ) [virtual]

Reimplemented from CollisionState.

void GjkCollisionState::reset	(	const MatrixF &	a2w,
		const MatrixF &	b2w
	)

Reimplemented from CollisionState.

void GjkCollisionState::getCollisionInfo	(	const MatrixF &	mat,
		Collision *	info
	)

void GjkCollisionState::getClosestPoints	(	Point3F &	p1,
		Point3F &	p2
	)

bool GjkCollisionState::intersect	(	const MatrixF &	a2w,
		const MatrixF &	b2w
	)

F32 GjkCollisionState::distance	(	const MatrixF &	a2w,
		const MatrixF &	b2w,
		const F32	dontCareDist,
		const MatrixF *	w2a = `NULL`,
		const MatrixF *	_w2b = `NULL`
	)			`[virtual]`