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btGjkEpa.cpp File Reference
#include "btGjkEpa.h"
#include <string.h>
#include "LinearMath/btStackAlloc.h"

Go to the source code of this file.


struct  gjkepa_impl::GJK
struct  gjkepa_impl::GJK::Mkv
struct  gjkepa_impl::GJK::He
struct  gjkepa_impl::EPA
struct  gjkepa_impl::EPA::Face


namespace  gjkepa_impl


#define BTLOCALSUPPORT   localGetSupportingVertex
#define cstInf   SIMD_INFINITY
#define cstPi   SIMD_PI
#define cst2Pi   SIMD_2_PI
#define GJK_maxiterations   (128)
#define GJK_hashsize   (1<<6)
#define GJK_hashmask   (GJK_hashsize-1)
#define GJK_insimplex_eps   F(0.0001)
#define GJK_sqinsimplex_eps   (GJK_insimplex_eps*GJK_insimplex_eps)
#define EPA_maxiterations   256
#define EPA_inface_eps   F(0.01)
#define EPA_accuracy   F(0.001)
#define SPX(_i_)   simplex[_i_]
#define SPXW(_i_)   simplex[_i_].w


typedef btScalar gjkepa_impl::F
typedef bool gjkepa_impl::Z
typedef int gjkepa_impl::I
typedef unsigned int gjkepa_impl::U
typedef unsigned char gjkepa_impl::U1
typedef unsigned short gjkepa_impl::U2
typedef btVector3 gjkepa_impl::Vector3
typedef btMatrix3x3 gjkepa_impl::Rotation


static F gjkepa_impl::Abs (F v)
static F gjkepa_impl::Sign (F v)
template<typename T >
static void gjkepa_impl::Swap (T &a, T &b)
template<typename T >
static T gjkepa_impl::Min (const T &a, const T &b)
template<typename T >
static T gjkepa_impl::Max (const T &a, const T &b)
static void gjkepa_impl::ClearMemory (void *p, U sz)
template<typename T >
static void gjkepa_impl::Raise (const T &)

Class Documentation

struct gjkepa_impl::GJK::Mkv

Definition at line 111 of file btGjkEpa.cpp.

Collaboration diagram for gjkepa_impl::GJK::Mkv:
Class Members
Vector3 r
Vector3 w
struct gjkepa_impl::GJK::He

Definition at line 116 of file btGjkEpa.cpp.

Collaboration diagram for gjkepa_impl::GJK::He:
Class Members
He * n
Vector3 v

Define Documentation

#define BTLOCALSUPPORT   localGetSupportingVertex

Definition at line 63 of file btGjkEpa.cpp.

#define cst2Pi   SIMD_2_PI

Definition at line 73 of file btGjkEpa.cpp.

#define cstInf   SIMD_INFINITY

Definition at line 71 of file btGjkEpa.cpp.

#define cstPi   SIMD_PI

Definition at line 72 of file btGjkEpa.cpp.

#define EPA_accuracy   F(0.001)

Definition at line 81 of file btGjkEpa.cpp.

#define EPA_inface_eps   F(0.01)

Definition at line 80 of file btGjkEpa.cpp.

#define EPA_maxiterations   256

Definition at line 79 of file btGjkEpa.cpp.

#define GJK_hashmask   (GJK_hashsize-1)

Definition at line 76 of file btGjkEpa.cpp.

#define GJK_hashsize   (1<<6)

Definition at line 75 of file btGjkEpa.cpp.

#define GJK_insimplex_eps   F(0.0001)

Definition at line 77 of file btGjkEpa.cpp.

#define GJK_maxiterations   (128)

Definition at line 74 of file btGjkEpa.cpp.

Definition at line 78 of file btGjkEpa.cpp.

#define SPX (   _i_)    simplex[_i_]

Definition at line 171 of file btGjkEpa.cpp.

#define SPXW (   _i_)    simplex[_i_].w

Definition at line 172 of file btGjkEpa.cpp.