om::physics::collision::EPASolver Class Reference

A class that iteratively refines a GJK simplex to approximate the shape surface at the collision point. More...

#include <omPhysicsCollisionEPASolver.h>

Classes
class	EPAEdge
class	EPATriangle
class	EPATriangleSort

Public Member Functions
	EPASolver ()
	Create a default EPASolver object. More...
template<typename UserDataType1 , typename UserDataType2 , MinkowskiVertex(*)(const UserDataType1 *, const UserDataType2 *, const SIMDFloat4 &) getSupportPoint>
EPAResult	solve (const UserDataType1 *userData1, const UserDataType2 *userData2, const MinkowskiVertex *simplex, Float terminationThreshold, Size maxIterations)
	Iteratively refine the specified GJK simplex. More...

Detailed Description

A class that iteratively refines a GJK simplex to approximate the shape surface at the collision point.

Since the output of the GJKSolver is just a simplex containing the origin, without any contact information, the EPASolver class refines that simplex so that one face of it lies near the surface of the convex shapes that are intersecting. This class can be used to generate better contact information than would be possible with just GJK.

Constructor & Destructor Documentation

om::physics::collision::EPASolver::EPASolver

(

)

Create a default EPASolver object.

Member Function Documentation

template<typename UserDataType1 , typename UserDataType2 , MinkowskiVertex(*)(const UserDataType1 *, const UserDataType2 *, const SIMDFloat4 &) getSupportPoint>

EPAResult om::physics::collision::EPASolver::solve	(	const UserDataType1 *	userData1,
		const UserDataType2 *	userData2,
		const MinkowskiVertex *	simplex,
		Float	terminationThreshold,
		Size	maxIterations
	)

Iteratively refine the specified GJK simplex.

This method iteratively adds triangles to the given simplex that better approximate the minkowski difference between two convex shapes. The method returns the triangle that is closest to the surface of the shapes' minkowski difference. This triangle can then be used to generate a point of contact on each shape.

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The documentation for this class was generated from the following file:

• omPhysicsCollisionEPASolver.h