Module com.github.stephengold.joltjni

Package com.github.stephengold.joltjni

Class EpaPenetrationDepth

java.lang.Object

com.github.stephengold.joltjni.JoltPhysicsObject

com.github.stephengold.joltjni.EpaPenetrationDepth

All Implemented Interfaces:

ConstJoltPhysicsObject, AutoCloseable, Comparable<JoltPhysicsObject>

public class EpaPenetrationDepth
extends JoltPhysicsObject

Implement the Expanding Polytope Algorithm. (native type: EPAPenetrationDepth)

Constructor Summary

Constructors

Constructor	Description
EpaPenetrationDepth()	Instantiate a default implementation.

Method Summary

Modifier and Type	Method	Description
boolean	getPenetrationDepth(PointConvexSupport aExcluding, Sphere aIncluding, float convexRadiusA, PointConvexSupport bExcluding, Sphere bIncluding, float convexRadiusB, float collisionToleranceSq, float penetrationTolerance, Vec3 iov, Vec3 storePointA, Vec3 storePointB)	Perform the GJK and EPA steps on a pair of points.
boolean	getPenetrationDepth(Sphere aExcluding, Sphere aIncluding, float convexRadiusA, Sphere bExcluding, Sphere bIncluding, float convexRadiusB, float collisionToleranceSq, float penetrationTolerance, Vec3 iov, Vec3 storePointA, Vec3 storePointB)	Perform the GJK and EPA steps on a pair of spheres.
boolean	getPenetrationDepth(Sphere aExcluding, Sphere aIncluding, float convexRadiusA, TransformedAaBox bExcluding, AddConvexRadiusTab bIncluding, float convexRadiusB, float collisionToleranceSq, float penetrationTolerance, Vec3 iov, Vec3 storePointA, Vec3 storePointB)	Perform the GJK and EPA steps on a sphere and a transformed box.
boolean	getPenetrationDepth(TransformedAaBox aExcluding, AddConvexRadiusTab aIncluding, float convexRadiusA, TransformedAaBox bExcluding, AddConvexRadiusTab bIncluding, float convexRadiusB, float collisionToleranceSq, float penetrationTolerance, Vec3 iov, Vec3 storePointA, Vec3 storePointB)	Perform the GJK and EPA steps on a pair of transformed boxes.
boolean	getPenetrationDepth(TransformedAaBox aExcluding, TransformedAaBox aIncluding, float convexRadiusA, TransformedSphere bExcluding, TransformedSphere bIncluding, float convexRadiusB, float collisionToleranceSq, float penetrationTolerance, Vec3 iov, Vec3 storePointA, Vec3 storePointB)	Perform the GJK and EPA steps on a transformed box and a transformed sphere.

Methods inherited from class com.github.stephengold.joltjni.JoltPhysicsObject

close, compareTo, equals, getContainingObject, hasAssignedNativeObject, hashCode, ownsNativeObject, setVirtualAddress, setVirtualAddress, startCleaner, targetVa, toString, va

Methods inherited from class java.lang.Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

EpaPenetrationDepth

public EpaPenetrationDepth()

Instantiate a default implementation.

Method Details

getPenetrationDepth

public boolean getPenetrationDepth(PointConvexSupport aExcluding,
 Sphere aIncluding,
 float convexRadiusA,
 PointConvexSupport bExcluding,
 Sphere bIncluding,
 float convexRadiusB,
 float collisionToleranceSq,
 float penetrationTolerance,
 Vec3 iov,
 Vec3 storePointA,
 Vec3 storePointB)

Perform the GJK and EPA steps on a pair of points.

Parameters:

aExcluding - point A without convex radius (not null, unaffected)

aIncluding - point A with convex radius (not null, unaffected)

convexRadiusA - the convex radius of point A

bExcluding - point B without convex radius (not null, unaffected)

bIncluding - point B with convex radius (not null, unaffected)

convexRadiusB - the convex radius of point B

collisionToleranceSq - the square of the collision tolerance

penetrationTolerance - the penetration tolerance

iov - the direction vector (not null, modified)

storePointA - storage for the point on point A (not null, modified)

storePointB - storage for the point on point B (not null, modified)

Returns:

true if the points intersect, otherwise false

getPenetrationDepth

public boolean getPenetrationDepth(Sphere aExcluding,
 Sphere aIncluding,
 float convexRadiusA,
 Sphere bExcluding,
 Sphere bIncluding,
 float convexRadiusB,
 float collisionToleranceSq,
 float penetrationTolerance,
 Vec3 iov,
 Vec3 storePointA,
 Vec3 storePointB)

Perform the GJK and EPA steps on a pair of spheres.

Parameters:

aExcluding - sphere A without convex radius (not null, unaffected)

aIncluding - sphere A with convex radius (not null, unaffected)

convexRadiusA - the convex radius of sphere A

bExcluding - sphere B without convex radius (not null, unaffected)

bIncluding - sphere B with convex radius (not null, unaffected)

convexRadiusB - the convex radius of sphere B

collisionToleranceSq - the square of the collision tolerance

penetrationTolerance - the penetration tolerance

iov - the direction vector (not null, modified)

storePointA - storage for the point on sphere A (not null, modified)

storePointB - storage for the point on sphere B (not null, modified)

Returns:

true if the spheres intersect, otherwise false

getPenetrationDepth

public boolean getPenetrationDepth(Sphere aExcluding,
 Sphere aIncluding,
 float convexRadiusA,
 TransformedAaBox bExcluding,
 AddConvexRadiusTab bIncluding,
 float convexRadiusB,
 float collisionToleranceSq,
 float penetrationTolerance,
 Vec3 iov,
 Vec3 storePointA,
 Vec3 storePointB)

Perform the GJK and EPA steps on a sphere and a transformed box.

Parameters:

aExcluding - the sphere without convex radius (not null, unaffected)

aIncluding - the sphere with convex radius (not null, unaffected)

convexRadiusA - the convex radius of the sphere

bExcluding - the box without convex radius (not null, unaffected)

bIncluding - the box with convex radius (not null, unaffected)

convexRadiusB - the convex radius of the box

collisionToleranceSq - the square of the collision tolerance

penetrationTolerance - the penetration tolerance

iov - the direction vector (not null, modified)

storePointA - storage for the point on the sphere (not null, modified)

storePointB - storage for the point on the box (not null, modified)

Returns:

true if the box and sphere intersect, otherwise false

getPenetrationDepth

public boolean getPenetrationDepth(TransformedAaBox aExcluding,
 AddConvexRadiusTab aIncluding,
 float convexRadiusA,
 TransformedAaBox bExcluding,
 AddConvexRadiusTab bIncluding,
 float convexRadiusB,
 float collisionToleranceSq,
 float penetrationTolerance,
 Vec3 iov,
 Vec3 storePointA,
 Vec3 storePointB)

Perform the GJK and EPA steps on a pair of transformed boxes.

Parameters:

aExcluding - box A without convex radius (not null, unaffected)

aIncluding - box A with convex radius (not null, unaffected)

convexRadiusA - the convex radius of box A

bExcluding - box B without convex radius (not null, unaffected)

bIncluding - box B with convex radius (not null, unaffected)

convexRadiusB - the convex radius of box B

collisionToleranceSq - the square of the collision tolerance

penetrationTolerance - the penetration tolerance

iov - the direction vector (not null, modified)

storePointA - storage for the point on box A (not null, modified)

storePointB - storage for the point on box B (not null, modified)

Returns:

true if the boxes intersect, otherwise false

getPenetrationDepth

public boolean getPenetrationDepth(TransformedAaBox aExcluding,
 TransformedAaBox aIncluding,
 float convexRadiusA,
 TransformedSphere bExcluding,
 TransformedSphere bIncluding,
 float convexRadiusB,
 float collisionToleranceSq,
 float penetrationTolerance,
 Vec3 iov,
 Vec3 storePointA,
 Vec3 storePointB)

Perform the GJK and EPA steps on a transformed box and a transformed sphere.

Parameters:

aExcluding - the box without convex radius (not null, unaffected)

aIncluding - the box with convex radius (not null, unaffected)

convexRadiusA - the convex radius of the box

bExcluding - the sphere without convex radius (not null, unaffected)

bIncluding - the sphere with convex radius (not null, unaffected)

convexRadiusB - the convex radius of the sphere

collisionToleranceSq - the square of the collision tolerance

penetrationTolerance - the penetration tolerance

iov - the direction vector (not null, modified)

storePointA - storage for the point on the box (not null, modified)

storePointB - storage for the point on the sphere (not null, modified)

Returns:

true if the box and sphere intersect, otherwise false