step/stepcore

StepCore::GJKCollisionSolver

StepCore::GJKCollisionSolver Class Reference
[Collision and constraint solvers]

#include <collisionsolver.h>

Inheritance diagram for StepCore::GJKCollisionSolver:

[legend]

List of all members.

Detailed Description

Discrete collision solver using Gilbert-Johnson-Keerthi distance algorithm.

Objects are treated as colliding if distance between them are greater then zero but smaller then certain small value. If distance is less then zero objects are always treated as interpenetrating - this signals World::doEvolve to invalidate current time step and try with smaller stepSize until objects are colliding but not interpenetrating.

Definition at line 144 of file collisionsolver.h.


Public Member Functions
void	bodyAdded (BodyList &bodies, Body *body)
void	bodyRemoved (BodyList &bodies, Body *body)
int	checkContacts (BodyList &bodies, ConstraintsInfo *info, bool collisions=false)
	GJKCollisionSolver (const GJKCollisionSolver &solver)
	GJKCollisionSolver ()
GJKCollisionSolver &	operator= (const GJKCollisionSolver &)
void	resetCaches ()
int	solveCollisions (BodyList &bodies)
Protected Member Functions
void	addContact (Body body0, Body body1)
void	checkCache (BodyList &bodies)
int	checkContact (Contact *contact)
int	checkDiskDisk (Contact *contact)
int	checkDiskParticle (Contact *contact)
int	checkPolygonDisk (Contact *contact)
int	checkPolygonParticle (Contact *contact)
int	checkPolygonPolygon (Contact *contact)
int	solveDiskDisk (Contact *contact)
int	solveDiskParticle (Contact *contact)
int	solvePolygonDisk (Contact *contact)
int	solvePolygonParticle (Contact *contact)
int	solvePolygonPolygon (Contact *contact)
Protected Attributes
ContactValueList	_contacts
bool	_contactsIsValid

Constructor & Destructor Documentation

StepCore::GJKCollisionSolver::GJKCollisionSolver ( ) [inline]

Definition at line 149 of file collisionsolver.h.

StepCore::GJKCollisionSolver::GJKCollisionSolver ( const GJKCollisionSolver & solver ) [inline]

Definition at line 152 of file collisionsolver.h.

Member Function Documentation

void StepCore::GJKCollisionSolver::addContact	(	Body *	body0,
		Body *	body1
	)			`[protected]`

Definition at line 1246 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::bodyAdded	(	BodyList &	bodies,
		Body *	body
	)			`[virtual]`

Reimplemented from StepCore::CollisionSolver.

Definition at line 1223 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::bodyRemoved	(	BodyList &	bodies,
		Body *	body
	)			`[virtual]`

Reimplemented from StepCore::CollisionSolver.

Definition at line 1232 of file collisionsolver.cc.

void StepCore::GJKCollisionSolver::checkCache ( BodyList & bodies ) [protected]

Definition at line 1207 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkContact ( Contact * contact ) [inline, protected]

Definition at line 824 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkContacts	(	BodyList &	bodies,
		ConstraintsInfo *	info,
		bool	collisions = `false`
	)			`[virtual]`

Check (and update) state of the contact.

Parameters:

contact

contact to check (only body0 and body1 fields must be set)

Returns:: state of the contact (equals to contact->state) Check contacts between several bodies

Parameters:

	bodies	list of bodies to check
	info	ConstraintsInfo structure to fill

Returns:: maximum contact state (i.e. maximum value of Contact::state)

Implements StepCore::CollisionSolver.

Definition at line 835 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkDiskDisk ( Contact * contact ) [protected]

Definition at line 728 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkDiskParticle ( Contact * contact ) [protected]

Definition at line 765 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonDisk ( Contact * contact ) [protected]

Definition at line 343 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonParticle ( Contact * contact ) [protected]

Definition at line 537 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::checkPolygonPolygon ( Contact * contact ) [protected]

Definition at line 35 of file collisionsolver.cc.

GJKCollisionSolver& StepCore::GJKCollisionSolver::operator= ( const GJKCollisionSolver & ) [inline]

Definition at line 154 of file collisionsolver.h.

void StepCore::GJKCollisionSolver::resetCaches ( ) [virtual]

Reset internal caches of collision information.

Todo:: do it automatically by checking the cache

Reimplemented from StepCore::CollisionSolver.

Definition at line 1283 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveCollisions ( BodyList & bodies ) [virtual]

Solve the collisions between bodies.

Implements StepCore::CollisionSolver.

Definition at line 1171 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveDiskDisk ( Contact * contact ) [protected]

Definition at line 1129 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solveDiskParticle ( Contact * contact ) [protected]

Definition at line 1150 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonDisk ( Contact * contact ) [protected]

Definition at line 1033 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonParticle ( Contact * contact ) [protected]

Definition at line 1081 of file collisionsolver.cc.

int StepCore::GJKCollisionSolver::solvePolygonPolygon ( Contact * contact ) [protected]

Definition at line 972 of file collisionsolver.cc.

Member Data Documentation

ContactValueList StepCore::GJKCollisionSolver::_contacts [protected]

Definition at line 197 of file collisionsolver.h.

bool StepCore::GJKCollisionSolver::_contactsIsValid [protected]

Definition at line 198 of file collisionsolver.h.

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

step/stepcore

StepCore::GJKCollisionSolver Class Reference [Collision and constraint solvers]

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

step/stepcore

kdeedu

StepCore::GJKCollisionSolver Class Reference
[Collision and constraint solvers]