com.bulletphysics.collision.narrowphase
Class GjkEpaPenetrationDepthSolver

java.lang.Object
  extended by com.bulletphysics.collision.narrowphase.GjkEpaPenetrationDepthSolver
All Implemented Interfaces:
ConvexPenetrationDepthSolver

public class GjkEpaPenetrationDepthSolver
extends Object
implements ConvexPenetrationDepthSolver

GjkEpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate the penetration depth between two convex shapes.


Constructor Summary
GjkEpaPenetrationDepthSolver()
           
 
Method Summary
 boolean calcPenDepth(SimplexSolverInterface simplexSolver, ConvexShape pConvexA, ConvexShape pConvexB, Transform transformA, Transform transformB, Vector3f v, Vector3f wWitnessOnA, Vector3f wWitnessOnB, IDebugDraw debugDraw)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

GjkEpaPenetrationDepthSolver

public GjkEpaPenetrationDepthSolver()
Method Detail

calcPenDepth

public boolean calcPenDepth(SimplexSolverInterface simplexSolver,
                            ConvexShape pConvexA,
                            ConvexShape pConvexB,
                            Transform transformA,
                            Transform transformB,
                            Vector3f v,
                            Vector3f wWitnessOnA,
                            Vector3f wWitnessOnB,
                            IDebugDraw debugDraw)
Specified by:
calcPenDepth in interface ConvexPenetrationDepthSolver