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Public Member Functions | Public Attributes
gjkepa2_impl::MinkowskiDiff Struct Reference
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List of all members.

Public Member Functions

void EnableMargin (bool enable)
btVector3 Support0 (const btVector3 &d) const
btVector3 Support1 (const btVector3 &d) const
btVector3 Support (const btVector3 &d) const
btVector3 Support (const btVector3 &d, U index) const

Public Attributes

const btConvexShape * m_shapes [2]
btMatrix3x3 m_toshape1
btTransform m_toshape0
btVector3(btConvexShape::* Ls )(const btVector3 &) const

Detailed Description

Definition at line 42 of file btGjkEpa2.cpp.


Member Function Documentation

void gjkepa2_impl::MinkowskiDiff::EnableMargin ( bool  enable) [inline]

Definition at line 48 of file btGjkEpa2.cpp.

              {
              if(enable)
                     Ls=&btConvexShape::localGetSupportingVertex;
                     else
                     Ls=&btConvexShape::localGetSupportingVertexWithoutMargin;
              }      

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Definition at line 63 of file btGjkEpa2.cpp.

              {
              return(Support0(d)-Support1(-d));
              }

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btVector3 gjkepa2_impl::MinkowskiDiff::Support ( const btVector3 d,
U  index 
) const [inline]

Definition at line 67 of file btGjkEpa2.cpp.

              {
              if(index)
                     return(Support1(d));
                     else
                     return(Support0(d));
              }

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Definition at line 55 of file btGjkEpa2.cpp.

              {
              return(((m_shapes[0])->*(Ls))(d));
              }

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Definition at line 59 of file btGjkEpa2.cpp.

              {
              return(m_toshape0*((m_shapes[1])->*(Ls))(m_toshape1*d));
              }

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Member Data Documentation

btVector3(btConvexShape::* gjkepa2_impl::MinkowskiDiff::Ls)(const btVector3 &) const

Definition at line 47 of file btGjkEpa2.cpp.

const btConvexShape* gjkepa2_impl::MinkowskiDiff::m_shapes[2]

Definition at line 44 of file btGjkEpa2.cpp.

Definition at line 46 of file btGjkEpa2.cpp.

Definition at line 45 of file btGjkEpa2.cpp.


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