#include <sch/CD/CD_Pair.h>

Collaboration diagram for sch::CD_Pair:

Public Member Functions
SCH_API	CD_Pair (S_Object Obj1, S_Object Obj2)
	constructor \IMPORTANT: to create a CD::Pair, two CD::S_Objects must have been created before, these objects moust not be destroyed before this instance More...

virtual SCH_API	~CD_Pair (void)

SCH_API Scalar	getClosestPoints (Point3 &p1, Point3 &p2)
	function that returns the distance SQUARED between two convex objects, and computes the witness points, the distance is set to negative if interpentration More...

SCH_API Scalar	reComputeClosestPoints (Point3 &p1, Point3 &p2)
	function that returns the distance SQUARED between two convex objects, restarting the computations from the beginning and computes the witness points, the distance is set to negative if interpentration More...

SCH_API Scalar	getDistance ()
	function that returns the distance SQUARED between two convex objects, the distance is set to negative if interpentration More...

SCH_API Scalar	getDistanceWithoutPenetrationDepth ()
	function that returns the distance SQUARED between two convex objects, no interpenetration depth computations done the distance is set to zero in this case More...

SCH_API bool	isInCollision ()
	returns if there is collision or not. If the distance is not already computed, it does not recompute, just returns the result. More...

SCH_API void	setVector (const Vector3 &)
	Intializes the direction vector (the vector between expected closest points) with a given value. More...

const SCH_API Vector3 &	getVector () const
	Gets the last direction vector (can be used to get a normal vector, especially when the distance is zero). This vector is likely NOT normalized. More...

SCH_API void	setRelativePrecision (Scalar precision)
	sets the relative precision of the proximity queries to a given value. The effective precision is precision^2 . Default is precision=1e-3. More...

SCH_API void	setEpsilon (Scalar)
	Sets the machine epsilon. Default is 1e-24. More...

SCH_API S_Object *	operator[] (unsigned char i)
	returns a pointer to the ith object in the pair More...

Protected Member Functions
Scalar	GJK ()

Scalar	penetrationDepth ()

void	witPoints (Point3 &p1, Point3 &p2)

Protected Attributes
S_Object *	sObj1_

S_Object *	sObj2_

Vector3	lastDirection_

int	lastFeature1_

int	lastFeature2_

Point3	p1_

Point3	p2_

Scalar	distance_

S_ObjectTimeStamp	stamp1_

S_ObjectTimeStamp	stamp2_

Scalar	precision_

Scalar	epsilon_

Scalar	lambda0_

Scalar	lambda1_

Scalar	lambda2_

Scalar	det_

bool	projectionComputed_

bool	collision_

bool	witPointsAreComputed_

CD_Simplex	s1_

CD_Simplex	s2_

CD_Simplex	s_

CD_SimplexEnhanced	sp_

CD_Depth	depthPair

Detailed Description

Examples: example0.cpp, and example1.cpp.

Constructor & Destructor Documentation

◆ CD_Pair()

SCH_API sch::CD_Pair::CD_Pair	(	S_Object *	Obj1,
		S_Object *	Obj2
	)

constructor \IMPORTANT: to create a CD::Pair, two CD::S_Objects must have been created before, these objects moust not be destroyed before this instance

Parameters

Obj1	is a pointer to the first object
Obj1	is a pointer to the second object

◆ ~CD_Pair()

virtual SCH_API sch::CD_Pair::~CD_Pair ( void )

virtual

Member Function Documentation

◆ getClosestPoints()

SCH_API Scalar sch::CD_Pair::getClosestPoints	(	Point3 &	p1,
		Point3 &	p2
	)

function that returns the distance SQUARED between two convex objects, and computes the witness points, the distance is set to negative if interpentration

The witness points are on the surface of the objects with opposite normals. If there is a collision and the penetration depth computation is deactivated then the witness points will only reflect the last step of the distance computation algorithm. Otherwise the witness points are points each on the surface of the other, having opposite normals and being the closest each to the other. In any case the returned distance should be used to obtain the distance.

Parameters

p1	is the witness point on the first object
p2	is the witness point on the second object

Returns: the distance squared (set to negative when there is penetration)

Examples: example0.cpp.

◆ getDistance()

SCH_API Scalar sch::CD_Pair::getDistance ( )

function that returns the distance SQUARED between two convex objects, the distance is set to negative if interpentration

Examples: example0.cpp.

◆ getDistanceWithoutPenetrationDepth()

SCH_API Scalar sch::CD_Pair::getDistanceWithoutPenetrationDepth ( )

function that returns the distance SQUARED between two convex objects, no interpenetration depth computations done the distance is set to zero in this case

Examples: example0.cpp, and example1.cpp.

◆ getVector()

const SCH_API Vector3& sch::CD_Pair::getVector ( ) const

Gets the last direction vector (can be used to get a normal vector, especially when the distance is zero). This vector is likely NOT normalized.

◆ GJK()

Scalar sch::CD_Pair::GJK ( )

protected

◆ isInCollision()

SCH_API bool sch::CD_Pair::isInCollision ( )

returns if there is collision or not. If the distance is not already computed, it does not recompute, just returns the result.

Examples: example0.cpp.

◆ operator[]()

SCH_API S_Object* sch::CD_Pair::operator[] ( unsigned char i )

inline

returns a pointer to the ith object in the pair

◆ penetrationDepth()

Scalar sch::CD_Pair::penetrationDepth ( )

protected

◆ reComputeClosestPoints()

SCH_API Scalar sch::CD_Pair::reComputeClosestPoints	(	Point3 &	p1,
		Point3 &	p2
	)

function that returns the distance SQUARED between two convex objects, restarting the computations from the beginning and computes the witness points, the distance is set to negative if interpentration

Parameters

p1	is the witness point on the first object
p2	is the witness point on the second object

◆ setEpsilon()

SCH_API void sch::CD_Pair::setEpsilon ( Scalar )

Sets the machine epsilon. Default is 1e-24.

◆ setRelativePrecision()

SCH_API void sch::CD_Pair::setRelativePrecision ( Scalar precision )

sets the relative precision of the proximity queries to a given value. The effective precision is precision^2 . Default is precision=1e-3.

◆ setVector()

SCH_API void sch::CD_Pair::setVector ( const Vector3 & )

Intializes the direction vector (the vector between expected closest points) with a given value.

◆ witPoints()

void sch::CD_Pair::witPoints	(	Point3 &	p1,
		Point3 &	p2
	)

protected

Member Data Documentation

◆ collision_

bool sch::CD_Pair::collision_

protected

◆ depthPair

CD_Depth sch::CD_Pair::depthPair

protected

◆ det_

Scalar sch::CD_Pair::det_

protected

◆ distance_

Scalar sch::CD_Pair::distance_

protected

◆ epsilon_

Scalar sch::CD_Pair::epsilon_

protected

◆ lambda0_

Scalar sch::CD_Pair::lambda0_

protected

◆ lambda1_

Scalar sch::CD_Pair::lambda1_

protected

◆ lambda2_

Scalar sch::CD_Pair::lambda2_

protected

◆ lastDirection_

Vector3 sch::CD_Pair::lastDirection_

protected

◆ lastFeature1_

int sch::CD_Pair::lastFeature1_

protected

◆ lastFeature2_

int sch::CD_Pair::lastFeature2_

protected

◆ p1_

Point3 sch::CD_Pair::p1_

protected

◆ p2_

Point3 sch::CD_Pair::p2_

protected

◆ precision_

Scalar sch::CD_Pair::precision_

protected

◆ projectionComputed_

bool sch::CD_Pair::projectionComputed_

protected

◆ s1_

CD_Simplex sch::CD_Pair::s1_

protected

◆ s2_

CD_Simplex sch::CD_Pair::s2_

protected

◆ s_

CD_Simplex sch::CD_Pair::s_

protected

◆ sObj1_

S_Object* sch::CD_Pair::sObj1_

protected

◆ sObj2_

S_Object * sch::CD_Pair::sObj2_

protected

◆ sp_

CD_SimplexEnhanced sch::CD_Pair::sp_

protected

◆ stamp1_

S_ObjectTimeStamp sch::CD_Pair::stamp1_

protected

◆ stamp2_

S_ObjectTimeStamp sch::CD_Pair::stamp2_

protected

◆ witPointsAreComputed_

bool sch::CD_Pair::witPointsAreComputed_

protected

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

include/sch/CD/CD_Pair.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CD_Pair()

◆ ~CD_Pair()

Member Function Documentation

◆ getClosestPoints()

◆ getDistance()

◆ getDistanceWithoutPenetrationDepth()

◆ getVector()

◆ GJK()

◆ isInCollision()

◆ operator[]()

◆ penetrationDepth()

◆ reComputeClosestPoints()

◆ setEpsilon()

◆ setRelativePrecision()

◆ setVector()

◆ witPoints()

Member Data Documentation

◆ collision_

◆ depthPair

◆ det_

◆ distance_

◆ epsilon_

◆ lambda0_

◆ lambda1_

◆ lambda2_

◆ lastDirection_

◆ lastFeature1_

◆ lastFeature2_

◆ p1_

◆ p2_

◆ precision_

◆ projectionComputed_

◆ s1_

◆ s2_

◆ s_

◆ sObj1_

◆ sObj2_

◆ sp_

◆ stamp1_

◆ stamp2_

◆ witPointsAreComputed_