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  108.   <div class="summary">
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  109. <a href="#pub-types">Public Types</a> &#124;
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  110. <a href="#pub-methods">Public Member Functions</a> &#124;
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  112.   <div class="headertitle"><div class="title">EPAPenetrationDepth Class Reference</div></div>
    113. 

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  114. <div class="contents">
    115. 

  115. 

  116. <p><code>#include &lt;<a class="el" href="_e_p_a_penetration_depth_8h_source.html">EPAPenetrationDepth.h</a>&gt;</code></p>
    117. 

  117. <table class="memberdecls">
    118. 

  118. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
    119. 

  119. Public Types</h2></td></tr>
    120. 

  120. <tr class="memitem:aab59ecfbbefc06c5ac96f9cdc24252d0" id="r_aab59ecfbbefc06c5ac96f9cdc24252d0"><td class="memItemLeft" align="right" valign="top">enum class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0">EStatus</a> { <a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0a0497a652be066f6f966a97fa6c67c9c0">NotColliding</a>
    121. 

  121. , <a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0ae0f4d0dafbcf08dd28d80154056ad0d8">Colliding</a>
    122. 

  122. , <a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0aa2d00c353d1f9a5f07852650030dbd53">Indeterminate</a>
    123. 

  123.  }</td></tr>
    124. 

  124. <tr class="memdesc:aab59ecfbbefc06c5ac96f9cdc24252d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return code for GetPenetrationDepthStepGJK.  <a href="#aab59ecfbbefc06c5ac96f9cdc24252d0">More...</a><br /></td></tr>
    125. 

  125. <tr class="separator:aab59ecfbbefc06c5ac96f9cdc24252d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
    126. 

  126. </table><table class="memberdecls">
    127. 

  127. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
    128. 

  128. Public Member Functions</h2></td></tr>
    129. 

  129. <tr class="memitem:a903dc39955aae9b4e9eced5a396eb5a7" id="r_a903dc39955aae9b4e9eced5a396eb5a7"><td class="memTemplParams" colspan="2">template&lt;typename AE , typename BE &gt; </td></tr>
    130. 

  130. <tr class="memitem:a903dc39955aae9b4e9eced5a396eb5a7"><td class="memTemplItemLeft" align="right" valign="top"><a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0">EStatus</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a903dc39955aae9b4e9eced5a396eb5a7">GetPenetrationDepthStepGJK</a> (const AE &amp;inAExcludingConvexRadius, float inConvexRadiusA, const BE &amp;inBExcludingConvexRadius, float inConvexRadiusB, float inTolerance, <a class="el" href="class_vec3.html">Vec3</a> &amp;ioV, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointB)</td></tr>
    131. 

  131. <tr class="separator:a903dc39955aae9b4e9eced5a396eb5a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
    132. 

  132. <tr class="memitem:acff8a6121c0896e3aabbe3a18019f201" id="r_acff8a6121c0896e3aabbe3a18019f201"><td class="memTemplParams" colspan="2">template&lt;typename AI , typename BI &gt; </td></tr>
    133. 

  133. <tr class="memitem:acff8a6121c0896e3aabbe3a18019f201"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#acff8a6121c0896e3aabbe3a18019f201">GetPenetrationDepthStepEPA</a> (const AI &amp;inAIncludingConvexRadius, const BI &amp;inBIncludingConvexRadius, float inTolerance, <a class="el" href="class_vec3.html">Vec3</a> &amp;outV, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointB)</td></tr>
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  134. <tr class="separator:acff8a6121c0896e3aabbe3a18019f201"><td class="memSeparator" colspan="2">&#160;</td></tr>
    135. 

  135. <tr class="memitem:a8368ab4825b799eb57d6f6cf841087e2" id="r_a8368ab4825b799eb57d6f6cf841087e2"><td class="memTemplParams" colspan="2">template&lt;typename AE , typename AI , typename BE , typename BI &gt; </td></tr>
    136. 

  136. <tr class="memitem:a8368ab4825b799eb57d6f6cf841087e2"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a8368ab4825b799eb57d6f6cf841087e2">GetPenetrationDepth</a> (const AE &amp;inAExcludingConvexRadius, const AI &amp;inAIncludingConvexRadius, float inConvexRadiusA, const BE &amp;inBExcludingConvexRadius, const BI &amp;inBIncludingConvexRadius, float inConvexRadiusB, float inCollisionToleranceSq, float inPenetrationTolerance, <a class="el" href="class_vec3.html">Vec3</a> &amp;ioV, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointB)</td></tr>
    137. 

  137. <tr class="separator:a8368ab4825b799eb57d6f6cf841087e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
    138. 

  138. <tr class="memitem:a37aeff94cc5402fd0a98bb299803f543" id="r_a37aeff94cc5402fd0a98bb299803f543"><td class="memTemplParams" colspan="2">template&lt;typename A , typename B &gt; </td></tr>
    139. 

  139. <tr class="memitem:a37aeff94cc5402fd0a98bb299803f543"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a37aeff94cc5402fd0a98bb299803f543">CastShape</a> (<a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a> inStart, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inDirection, float inCollisionTolerance, float inPenetrationTolerance, const A &amp;inA, const B &amp;inB, float inConvexRadiusA, float inConvexRadiusB, bool inReturnDeepestPoint, float &amp;ioLambda, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointA, <a class="el" href="class_vec3.html">Vec3</a> &amp;outPointB, <a class="el" href="class_vec3.html">Vec3</a> &amp;outContactNormal)</td></tr>
    140. 

  140. <tr class="separator:a37aeff94cc5402fd0a98bb299803f543"><td class="memSeparator" colspan="2">&#160;</td></tr>
    141. 

  141. </table>
    142. 

  142. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    143. 

  143. <div class="textblock"><p>Implementation of Expanding Polytope Algorithm as described in:</p>
    144. 

  144. <p>Proximity Queries and Penetration Depth Computation on 3D Game Objects - Gino van den Bergen</p>
    145. 

  145. <p>The implementation of this algorithm does not completely follow the article, instead of splitting triangles at each edge as in fig. 7 in the article, we build a convex hull (removing any triangles that are facing the new point, thereby avoiding the problem of getting really oblong triangles as mentioned in the article).</p>
    146. 

  146. <p>The algorithm roughly works like:</p>
    147. 

  147. <ul>
    148. 

  148. <li>Start with a simplex of the Minkowski sum (difference) of two objects that was calculated by GJK</li>
    149. 

  149. <li>This simplex should contain the origin (or else GJK would have reported: no collision)</li>
    150. 

  150. <li>In cases where the simplex consists of 1 - 3 points, find some extra support points (of the Minkowski sum) to get to at least 4 points</li>
    151. 

  151. <li>Convert this into a convex hull with non-zero volume (which includes the origin)</li>
    152. 

  152. <li>A: Calculate the closest point to the origin for all triangles of the hull and take the closest one</li>
    153. 

  153. <li>Calculate a new support point (of the Minkowski sum) in this direction and add this point to the convex hull</li>
    154. 

  154. <li>This will remove all faces that are facing the new point and will create new triangles to fill up the hole</li>
    155. 

  155. <li>Loop to A until no closer point found</li>
    156. 

  156. <li>The closest point indicates the position / direction of least penetration </li>
    157. 

  157. </ul>
    158. 

  158. </div><h2 class="groupheader">Member Enumeration Documentation</h2>
    159. 

  159. <a id="aab59ecfbbefc06c5ac96f9cdc24252d0" name="aab59ecfbbefc06c5ac96f9cdc24252d0"></a>
    160. 

  160. <h2 class="memtitle"><span class="permalink"><a href="#aab59ecfbbefc06c5ac96f9cdc24252d0">&#9670;&#160;</a></span>EStatus</h2>
    161. 

  161. 

  162. <div class="memitem">
    163. 

  163. <div class="memproto">
    164. 

  164. <table class="mlabels">
    165. 

  165.   <tr>
    166. 

  166.   <td class="mlabels-left">
    167. 

  167.       <table class="memname">
    168. 

  168.         <tr>
    169. 

  169.           <td class="memname">enum class <a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0">EPAPenetrationDepth::EStatus</a></td>
    170. 

  170.         </tr>
    171. 

  171.       </table>
    172. 

  172.   </td>
    173. 

  173.   <td class="mlabels-right">
    174. 

  174. <span class="mlabels"><span class="mlabel">strong</span></span>  </td>
    175. 

  175.   </tr>
    176. 

  176. </table>
    177. 

  177. </div><div class="memdoc">
    178. 

  178. 

  179. <p>Return code for GetPenetrationDepthStepGJK. </p>
    180. 

  180. <table class="fieldtable">
    181. 

  181. <tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aab59ecfbbefc06c5ac96f9cdc24252d0a0497a652be066f6f966a97fa6c67c9c0" name="aab59ecfbbefc06c5ac96f9cdc24252d0a0497a652be066f6f966a97fa6c67c9c0"></a>NotColliding&#160;</td><td class="fielddoc"><p>Returned if the objects don't collide, in this case outPointA/outPointB are invalid. </p>
    182. 

  182. </td></tr>
    183. 

  183. <tr><td class="fieldname"><a id="aab59ecfbbefc06c5ac96f9cdc24252d0ae0f4d0dafbcf08dd28d80154056ad0d8" name="aab59ecfbbefc06c5ac96f9cdc24252d0ae0f4d0dafbcf08dd28d80154056ad0d8"></a>Colliding&#160;</td><td class="fielddoc"><p>Returned if the objects penetrate. </p>
    184. 

  184. </td></tr>
    185. 

  185. <tr><td class="fieldname"><a id="aab59ecfbbefc06c5ac96f9cdc24252d0aa2d00c353d1f9a5f07852650030dbd53" name="aab59ecfbbefc06c5ac96f9cdc24252d0aa2d00c353d1f9a5f07852650030dbd53"></a>Indeterminate&#160;</td><td class="fielddoc"><p>Returned if the objects penetrate further than the convex radius. In this case you need to call GetPenetrationDepthStepEPA to get the actual penetration depth. </p>
    186. 

  186. </td></tr>
    187. 

  187. </table>
    188. 

  188. 

  189. </div>
    190. 

  190. </div>
    191. 

  191. <h2 class="groupheader">Member Function Documentation</h2>
    192. 

  192. <a id="a37aeff94cc5402fd0a98bb299803f543" name="a37aeff94cc5402fd0a98bb299803f543"></a>
    193. 

  193. <h2 class="memtitle"><span class="permalink"><a href="#a37aeff94cc5402fd0a98bb299803f543">&#9670;&#160;</a></span>CastShape()</h2>
    194. 

  194. 

  195. <div class="memitem">
    196. 

  196. <div class="memproto">
    197. 

  197. <div class="memtemplate">
    198. 

  198. template&lt;typename A , typename B &gt; </div>
    199. 

  199. <table class="mlabels">
    200. 

  200.   <tr>
    201. 

  201.   <td class="mlabels-left">
    202. 

  202.       <table class="memname">
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  203.         <tr>
    204. 

  204.           <td class="memname">bool EPAPenetrationDepth::CastShape </td>
    205. 

  205.           <td>(</td>
    206. 

  206.           <td class="paramtype"><a class="el" href="_math_types_8h.html#af10dd31c5ad4acb62aba8025732597e6">Mat44Arg</a></td>          <td class="paramname"><span class="paramname"><em>inStart</em></span>, </td>
    207. 

  207.         </tr>
    208. 

  208.         <tr>
    209. 

  209.           <td class="paramkey"></td>
    210. 

  210.           <td></td>
    211. 

  211.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inDirection</em></span>, </td>
    212. 

  212.         </tr>
    213. 

  213.         <tr>
    214. 

  214.           <td class="paramkey"></td>
    215. 

  215.           <td></td>
    216. 

  216.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inCollisionTolerance</em></span>, </td>
    217. 

  217.         </tr>
    218. 

  218.         <tr>
    219. 

  219.           <td class="paramkey"></td>
    220. 

  220.           <td></td>
    221. 

  221.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inPenetrationTolerance</em></span>, </td>
    222. 

  222.         </tr>
    223. 

  223.         <tr>
    224. 

  224.           <td class="paramkey"></td>
    225. 

  225.           <td></td>
    226. 

  226.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    227. 

  227.         </tr>
    228. 

  228.         <tr>
    229. 

  229.           <td class="paramkey"></td>
    230. 

  230.           <td></td>
    231. 

  231.           <td class="paramtype">const B &amp;</td>          <td class="paramname"><span class="paramname"><em>inB</em></span>, </td>
    232. 

  232.         </tr>
    233. 

  233.         <tr>
    234. 

  234.           <td class="paramkey"></td>
    235. 

  235.           <td></td>
    236. 

  236.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusA</em></span>, </td>
    237. 

  237.         </tr>
    238. 

  238.         <tr>
    239. 

  239.           <td class="paramkey"></td>
    240. 

  240.           <td></td>
    241. 

  241.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusB</em></span>, </td>
    242. 

  242.         </tr>
    243. 

  243.         <tr>
    244. 

  244.           <td class="paramkey"></td>
    245. 

  245.           <td></td>
    246. 

  246.           <td class="paramtype">bool</td>          <td class="paramname"><span class="paramname"><em>inReturnDeepestPoint</em></span>, </td>
    247. 

  247.         </tr>
    248. 

  248.         <tr>
    249. 

  249.           <td class="paramkey"></td>
    250. 

  250.           <td></td>
    251. 

  251.           <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>ioLambda</em></span>, </td>
    252. 

  252.         </tr>
    253. 

  253.         <tr>
    254. 

  254.           <td class="paramkey"></td>
    255. 

  255.           <td></td>
    256. 

  256.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointA</em></span>, </td>
    257. 

  257.         </tr>
    258. 

  258.         <tr>
    259. 

  259.           <td class="paramkey"></td>
    260. 

  260.           <td></td>
    261. 

  261.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointB</em></span>, </td>
    262. 

  262.         </tr>
    263. 

  263.         <tr>
    264. 

  264.           <td class="paramkey"></td>
    265. 

  265.           <td></td>
    266. 

  266.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outContactNormal</em></span>&#160;)</td>
    267. 

  267.         </tr>
    268. 

  268.       </table>
    269. 

  269.   </td>
    270. 

  270.   <td class="mlabels-right">
    271. 

  271. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    272. 

  272.   </tr>
    273. 

  273. </table>
    274. 

  274. </div><div class="memdoc">
    275. 

  275. <p>Test if a cast shape inA moving from inStart to lambda * inStart.GetTranslation() + inDirection where lambda e [0, ioLambda&gt; intersects inB</p>
    276. 

  276. <dl class="params"><dt>Parameters</dt><dd>
    277. 

  277.   <table class="params">
    278. 

  278.     <tr><td class="paramname">inStart</td><td>Start position and orientation of the convex object </td></tr>
    279. 

  279.     <tr><td class="paramname">inDirection</td><td>Direction of the sweep (ioLambda * inDirection determines length) </td></tr>
    280. 

  280.     <tr><td class="paramname">inCollisionTolerance</td><td>The minimal distance between A and B before they are considered colliding </td></tr>
    281. 

  281.     <tr><td class="paramname">inPenetrationTolerance</td><td>A factor that determines the accuracy of the result. If the change of the squared distance is less than inTolerance * current_penetration_depth^2 the algorithm will terminate. Should be bigger or equal to FLT_EPSILON. </td></tr>
    282. 

  282.     <tr><td class="paramname">inA</td><td>The convex object A, must support the GetSupport(Vec3) function. </td></tr>
    283. 

  283.     <tr><td class="paramname">inB</td><td>The convex object B, must support the GetSupport(Vec3) function. </td></tr>
    284. 

  284.     <tr><td class="paramname">inConvexRadiusA</td><td>The convex radius of A, this will be added on all sides to pad A. </td></tr>
    285. 

  285.     <tr><td class="paramname">inConvexRadiusB</td><td>The convex radius of B, this will be added on all sides to pad B. </td></tr>
    286. 

  286.     <tr><td class="paramname">inReturnDeepestPoint</td><td>If the shapes are initially intersecting this determines if the EPA algorithm will run to find the deepest point </td></tr>
    287. 

  287.     <tr><td class="paramname">ioLambda</td><td>The max fraction along the sweep, on output updated with the actual collision fraction. </td></tr>
    288. 

  288.     <tr><td class="paramname">outPointA</td><td>is the contact point on A </td></tr>
    289. 

  289.     <tr><td class="paramname">outPointB</td><td>is the contact point on B </td></tr>
    290. 

  290.     <tr><td class="paramname">outContactNormal</td><td>is either the contact normal when the objects are touching or the penetration axis when the objects are penetrating at the start of the sweep (pointing from A to B, length will not be 1)</td></tr>
    291. 

  291.   </table>
    292. 

  292.   </dd>
    293. 

  293. </dl>
    294. 

  294. <dl class="section return"><dt>Returns</dt><dd>true if the a hit was found, in which case ioLambda, outPointA, outPointB and outSurfaceNormal are updated. </dd></dl>
    295. 

  295. 

  296. </div>
    297. 

  297. </div>
    298. 

  298. <a id="a8368ab4825b799eb57d6f6cf841087e2" name="a8368ab4825b799eb57d6f6cf841087e2"></a>
    299. 

  299. <h2 class="memtitle"><span class="permalink"><a href="#a8368ab4825b799eb57d6f6cf841087e2">&#9670;&#160;</a></span>GetPenetrationDepth()</h2>
    300. 

  300. 

  301. <div class="memitem">
    302. 

  302. <div class="memproto">
    303. 

  303. <div class="memtemplate">
    304. 

  304. template&lt;typename AE , typename AI , typename BE , typename BI &gt; </div>
    305. 

  305. <table class="mlabels">
    306. 

  306.   <tr>
    307. 

  307.   <td class="mlabels-left">
    308. 

  308.       <table class="memname">
    309. 

  309.         <tr>
    310. 

  310.           <td class="memname">bool EPAPenetrationDepth::GetPenetrationDepth </td>
    311. 

  311.           <td>(</td>
    312. 

  312.           <td class="paramtype">const AE &amp;</td>          <td class="paramname"><span class="paramname"><em>inAExcludingConvexRadius</em></span>, </td>
    313. 

  313.         </tr>
    314. 

  314.         <tr>
    315. 

  315.           <td class="paramkey"></td>
    316. 

  316.           <td></td>
    317. 

  317.           <td class="paramtype">const AI &amp;</td>          <td class="paramname"><span class="paramname"><em>inAIncludingConvexRadius</em></span>, </td>
    318. 

  318.         </tr>
    319. 

  319.         <tr>
    320. 

  320.           <td class="paramkey"></td>
    321. 

  321.           <td></td>
    322. 

  322.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusA</em></span>, </td>
    323. 

  323.         </tr>
    324. 

  324.         <tr>
    325. 

  325.           <td class="paramkey"></td>
    326. 

  326.           <td></td>
    327. 

  327.           <td class="paramtype">const BE &amp;</td>          <td class="paramname"><span class="paramname"><em>inBExcludingConvexRadius</em></span>, </td>
    328. 

  328.         </tr>
    329. 

  329.         <tr>
    330. 

  330.           <td class="paramkey"></td>
    331. 

  331.           <td></td>
    332. 

  332.           <td class="paramtype">const BI &amp;</td>          <td class="paramname"><span class="paramname"><em>inBIncludingConvexRadius</em></span>, </td>
    333. 

  333.         </tr>
    334. 

  334.         <tr>
    335. 

  335.           <td class="paramkey"></td>
    336. 

  336.           <td></td>
    337. 

  337.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusB</em></span>, </td>
    338. 

  338.         </tr>
    339. 

  339.         <tr>
    340. 

  340.           <td class="paramkey"></td>
    341. 

  341.           <td></td>
    342. 

  342.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inCollisionToleranceSq</em></span>, </td>
    343. 

  343.         </tr>
    344. 

  344.         <tr>
    345. 

  345.           <td class="paramkey"></td>
    346. 

  346.           <td></td>
    347. 

  347.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inPenetrationTolerance</em></span>, </td>
    348. 

  348.         </tr>
    349. 

  349.         <tr>
    350. 

  350.           <td class="paramkey"></td>
    351. 

  351.           <td></td>
    352. 

  352.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioV</em></span>, </td>
    353. 

  353.         </tr>
    354. 

  354.         <tr>
    355. 

  355.           <td class="paramkey"></td>
    356. 

  356.           <td></td>
    357. 

  357.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointA</em></span>, </td>
    358. 

  358.         </tr>
    359. 

  359.         <tr>
    360. 

  360.           <td class="paramkey"></td>
    361. 

  361.           <td></td>
    362. 

  362.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointB</em></span>&#160;)</td>
    363. 

  363.         </tr>
    364. 

  364.       </table>
    365. 

  365.   </td>
    366. 

  366.   <td class="mlabels-right">
    367. 

  367. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    368. 

  368.   </tr>
    369. 

  369. </table>
    370. 

  370. </div><div class="memdoc">
    371. 

  371. <p>This function combines the GJK and EPA steps and is provided as a convenience function. Note: less performant since you're providing all support functions in one go Note 2: You need to initialize ioV, see documentation at GetPenetrationDepthStepGJK! </p>
    372. 

  372. 

  373. </div>
    374. 

  374. </div>
    375. 

  375. <a id="acff8a6121c0896e3aabbe3a18019f201" name="acff8a6121c0896e3aabbe3a18019f201"></a>
    376. 

  376. <h2 class="memtitle"><span class="permalink"><a href="#acff8a6121c0896e3aabbe3a18019f201">&#9670;&#160;</a></span>GetPenetrationDepthStepEPA()</h2>
    377. 

  377. 

  378. <div class="memitem">
    379. 

  379. <div class="memproto">
    380. 

  380. <div class="memtemplate">
    381. 

  381. template&lt;typename AI , typename BI &gt; </div>
    382. 

  382. <table class="mlabels">
    383. 

  383.   <tr>
    384. 

  384.   <td class="mlabels-left">
    385. 

  385.       <table class="memname">
    386. 

  386.         <tr>
    387. 

  387.           <td class="memname">bool EPAPenetrationDepth::GetPenetrationDepthStepEPA </td>
    388. 

  388.           <td>(</td>
    389. 

  389.           <td class="paramtype">const AI &amp;</td>          <td class="paramname"><span class="paramname"><em>inAIncludingConvexRadius</em></span>, </td>
    390. 

  390.         </tr>
    391. 

  391.         <tr>
    392. 

  392.           <td class="paramkey"></td>
    393. 

  393.           <td></td>
    394. 

  394.           <td class="paramtype">const BI &amp;</td>          <td class="paramname"><span class="paramname"><em>inBIncludingConvexRadius</em></span>, </td>
    395. 

  395.         </tr>
    396. 

  396.         <tr>
    397. 

  397.           <td class="paramkey"></td>
    398. 

  398.           <td></td>
    399. 

  399.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    400. 

  400.         </tr>
    401. 

  401.         <tr>
    402. 

  402.           <td class="paramkey"></td>
    403. 

  403.           <td></td>
    404. 

  404.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outV</em></span>, </td>
    405. 

  405.         </tr>
    406. 

  406.         <tr>
    407. 

  407.           <td class="paramkey"></td>
    408. 

  408.           <td></td>
    409. 

  409.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointA</em></span>, </td>
    410. 

  410.         </tr>
    411. 

  411.         <tr>
    412. 

  412.           <td class="paramkey"></td>
    413. 

  413.           <td></td>
    414. 

  414.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointB</em></span>&#160;)</td>
    415. 

  415.         </tr>
    416. 

  416.       </table>
    417. 

  417.   </td>
    418. 

  418.   <td class="mlabels-right">
    419. 

  419. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    420. 

  420.   </tr>
    421. 

  421. </table>
    422. 

  422. </div><div class="memdoc">
    423. 

  423. <p>Calculates penetration depth between two objects, second step (the EPA step)</p>
    424. 

  424. <dl class="params"><dt>Parameters</dt><dd>
    425. 

  425.   <table class="params">
    426. 

  426.     <tr><td class="paramname">inAIncludingConvexRadius</td><td>Object A with convex radius </td></tr>
    427. 

  427.     <tr><td class="paramname">inBIncludingConvexRadius</td><td>Object B with convex radius </td></tr>
    428. 

  428.     <tr><td class="paramname">inTolerance</td><td>A factor that determines the accuracy of the result. If the change of the squared distance is less than inTolerance * current_penetration_depth^2 the algorithm will terminate. Should be bigger or equal to FLT_EPSILON. </td></tr>
    429. 

  429.     <tr><td class="paramname">outV</td><td>Direction to move B out of collision along the shortest path (magnitude is meaningless) </td></tr>
    430. 

  430.     <tr><td class="paramname">outPointA</td><td>Position on A that has the least amount of penetration </td></tr>
    431. 

  431.     <tr><td class="paramname">outPointB</td><td>Position on B that has the least amount of penetration Use |outPointB - outPointA| to get the distance of penetration</td></tr>
    432. 

  432.   </table>
    433. 

  433.   </dd>
    434. 

  434. </dl>
    435. 

  435. <dl class="section return"><dt>Returns</dt><dd>False if the objects don't collide, in this case outPointA/outPointB are invalid. True if the objects penetrate </dd></dl>
    436. 

  436. 

  437. </div>
    438. 

  438. </div>
    439. 

  439. <a id="a903dc39955aae9b4e9eced5a396eb5a7" name="a903dc39955aae9b4e9eced5a396eb5a7"></a>
    440. 

  440. <h2 class="memtitle"><span class="permalink"><a href="#a903dc39955aae9b4e9eced5a396eb5a7">&#9670;&#160;</a></span>GetPenetrationDepthStepGJK()</h2>
    441. 

  441. 

  442. <div class="memitem">
    443. 

  443. <div class="memproto">
    444. 

  444. <div class="memtemplate">
    445. 

  445. template&lt;typename AE , typename BE &gt; </div>
    446. 

  446. <table class="mlabels">
    447. 

  447.   <tr>
    448. 

  448.   <td class="mlabels-left">
    449. 

  449.       <table class="memname">
    450. 

  450.         <tr>
    451. 

  451.           <td class="memname"><a class="el" href="#aab59ecfbbefc06c5ac96f9cdc24252d0">EStatus</a> EPAPenetrationDepth::GetPenetrationDepthStepGJK </td>
    452. 

  452.           <td>(</td>
    453. 

  453.           <td class="paramtype">const AE &amp;</td>          <td class="paramname"><span class="paramname"><em>inAExcludingConvexRadius</em></span>, </td>
    454. 

  454.         </tr>
    455. 

  455.         <tr>
    456. 

  456.           <td class="paramkey"></td>
    457. 

  457.           <td></td>
    458. 

  458.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusA</em></span>, </td>
    459. 

  459.         </tr>
    460. 

  460.         <tr>
    461. 

  461.           <td class="paramkey"></td>
    462. 

  462.           <td></td>
    463. 

  463.           <td class="paramtype">const BE &amp;</td>          <td class="paramname"><span class="paramname"><em>inBExcludingConvexRadius</em></span>, </td>
    464. 

  464.         </tr>
    465. 

  465.         <tr>
    466. 

  466.           <td class="paramkey"></td>
    467. 

  467.           <td></td>
    468. 

  468.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusB</em></span>, </td>
    469. 

  469.         </tr>
    470. 

  470.         <tr>
    471. 

  471.           <td class="paramkey"></td>
    472. 

  472.           <td></td>
    473. 

  473.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    474. 

  474.         </tr>
    475. 

  475.         <tr>
    476. 

  476.           <td class="paramkey"></td>
    477. 

  477.           <td></td>
    478. 

  478.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioV</em></span>, </td>
    479. 

  479.         </tr>
    480. 

  480.         <tr>
    481. 

  481.           <td class="paramkey"></td>
    482. 

  482.           <td></td>
    483. 

  483.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointA</em></span>, </td>
    484. 

  484.         </tr>
    485. 

  485.         <tr>
    486. 

  486.           <td class="paramkey"></td>
    487. 

  487.           <td></td>
    488. 

  488.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outPointB</em></span>&#160;)</td>
    489. 

  489.         </tr>
    490. 

  490.       </table>
    491. 

  491.   </td>
    492. 

  492.   <td class="mlabels-right">
    493. 

  493. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    494. 

  494.   </tr>
    495. 

  495. </table>
    496. 

  496. </div><div class="memdoc">
    497. 

  497. <p>Calculates penetration depth between two objects, first step of two (the GJK step)</p>
    498. 

  498. <dl class="params"><dt>Parameters</dt><dd>
    499. 

  499.   <table class="params">
    500. 

  500.     <tr><td class="paramname">inAExcludingConvexRadius</td><td>Object A without convex radius. </td></tr>
    501. 

  501.     <tr><td class="paramname">inBExcludingConvexRadius</td><td>Object B without convex radius. </td></tr>
    502. 

  502.     <tr><td class="paramname">inConvexRadiusA</td><td>Convex radius for A. </td></tr>
    503. 

  503.     <tr><td class="paramname">inConvexRadiusB</td><td>Convex radius for B. </td></tr>
    504. 

  504.     <tr><td class="paramname">ioV</td><td>Pass in previously returned value or (1, 0, 0). On return this value is changed to direction to move B out of collision along the shortest path (magnitude is meaningless). </td></tr>
    505. 

  505.     <tr><td class="paramname">inTolerance</td><td>Minimal distance before A and B are considered colliding. </td></tr>
    506. 

  506.     <tr><td class="paramname">outPointA</td><td>Position on A that has the least amount of penetration. </td></tr>
    507. 

  507.     <tr><td class="paramname">outPointB</td><td>Position on B that has the least amount of penetration. Use |outPointB - outPointA| to get the distance of penetration. </td></tr>
    508. 

  508.   </table>
    509. 

  509.   </dd>
    510. 

  510. </dl>
    511. 

  511. 

  512. </div>
    513. 

  513. </div>
    514. 

  514. <hr/>The documentation for this class was generated from the following file:<ul>
    515. 

  515. <li>Jolt/Geometry/<a class="el" href="_e_p_a_penetration_depth_8h_source.html">EPAPenetrationDepth.h</a></li>
    516. 

  516. </ul>
    517. 

  517. </div><!-- contents -->
    518. 

  518. </div><!-- doc-content -->
    519. 

  519. <!-- start footer part -->
    520. 

  520. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    521. 

  521.   <ul>
    522. 

  522.     <li class="navelem"><a class="el" href="class_e_p_a_penetration_depth.html">EPAPenetrationDepth</a></li>
    523. 

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    525. 

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    526. 

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    527. 

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    528.