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  109. <a href="#pub-methods">Public Member Functions</a> &#124;
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  110. <a href="class_g_j_k_closest_point-members.html">List of all members</a>  </div>
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  111.   <div class="headertitle"><div class="title">GJKClosestPoint Class Reference</div></div>
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  114. 

  115. <p><code>#include &lt;<a class="el" href="_g_j_k_closest_point_8h_source.html">GJKClosestPoint.h</a>&gt;</code></p>
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  116. <div class="dynheader">
    117. 

  117. Inheritance diagram for GJKClosestPoint:</div>
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  118. <div class="dyncontent">
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  119.  <div class="center">
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  120.   <img src="class_g_j_k_closest_point.png" usemap="#GJKClosestPoint_map" alt=""/>
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  124. </div></div>
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  125. <table class="memberdecls">
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  126. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
    127. 

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

  128. <tr class="memitem:a20ab4d36efcf62ceae244ec75eb4bc23" id="r_a20ab4d36efcf62ceae244ec75eb4bc23"><td class="memTemplParams" colspan="2">template&lt;typename A , typename B &gt; </td></tr>
    129. 

  129. <tr class="memitem:a20ab4d36efcf62ceae244ec75eb4bc23"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a20ab4d36efcf62ceae244ec75eb4bc23">Intersects</a> (const A &amp;inA, const B &amp;inB, float inTolerance, <a class="el" href="class_vec3.html">Vec3</a> &amp;ioV)</td></tr>
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  130. <tr class="separator:a20ab4d36efcf62ceae244ec75eb4bc23"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  131. <tr class="memitem:abb7cfdd49d708007d75b4c2e9b90ebb9" id="r_abb7cfdd49d708007d75b4c2e9b90ebb9"><td class="memTemplParams" colspan="2">template&lt;typename A , typename B &gt; </td></tr>
    132. 

  132. <tr class="memitem:abb7cfdd49d708007d75b4c2e9b90ebb9"><td class="memTemplItemLeft" align="right" valign="top">float&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#abb7cfdd49d708007d75b4c2e9b90ebb9">GetClosestPoints</a> (const A &amp;inA, const B &amp;inB, float inTolerance, float inMaxDistSq, <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>
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  133. <tr class="separator:abb7cfdd49d708007d75b4c2e9b90ebb9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  134. <tr class="memitem:a73d6f276fb275026a0126ca7361fb2bf" id="r_a73d6f276fb275026a0126ca7361fb2bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a73d6f276fb275026a0126ca7361fb2bf">GetClosestPointsSimplex</a> (<a class="el" href="class_vec3.html">Vec3</a> *outY, <a class="el" href="class_vec3.html">Vec3</a> *outP, <a class="el" href="class_vec3.html">Vec3</a> *outQ, <a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;outNumPoints) const</td></tr>
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  135. <tr class="separator:a73d6f276fb275026a0126ca7361fb2bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  136. <tr class="memitem:ade3cde48252b6f77f749f9ac29685ec7" id="r_ade3cde48252b6f77f749f9ac29685ec7"><td class="memTemplParams" colspan="2">template&lt;typename A &gt; </td></tr>
    137. 

  137. <tr class="memitem:ade3cde48252b6f77f749f9ac29685ec7"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#ade3cde48252b6f77f749f9ac29685ec7">CastRay</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inRayOrigin, <a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inRayDirection, float inTolerance, const A &amp;inA, float &amp;ioLambda)</td></tr>
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  138. <tr class="separator:ade3cde48252b6f77f749f9ac29685ec7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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  139. <tr class="memitem:a66d20557ad6d34a1c1f29b6df058b523" id="r_a66d20557ad6d34a1c1f29b6df058b523"><td class="memTemplParams" colspan="2">template&lt;typename A , typename B &gt; </td></tr>
    140. 

  140. <tr class="memitem:a66d20557ad6d34a1c1f29b6df058b523"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#a66d20557ad6d34a1c1f29b6df058b523">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 inTolerance, const A &amp;inA, const B &amp;inB, float &amp;ioLambda)</td></tr>
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  142. <tr class="memitem:aa5b19da7e23744cb5c1af8fe2fee2940" id="r_aa5b19da7e23744cb5c1af8fe2fee2940"><td class="memTemplParams" colspan="2">template&lt;typename A , typename B &gt; </td></tr>
    143. 

  143. <tr class="memitem:aa5b19da7e23744cb5c1af8fe2fee2940"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="#aa5b19da7e23744cb5c1af8fe2fee2940">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 inTolerance, const A &amp;inA, const B &amp;inB, float inConvexRadiusA, float inConvexRadiusB, 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;outSeparatingAxis)</td></tr>
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  145. <tr class="inherit_header pub_methods_class_non_copyable"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_non_copyable')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_non_copyable.html">NonCopyable</a></td></tr>
    146. 

  146. <tr class="memitem:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable" id="r_a809b6e4ade7ae32f6d248f2a3b783d45"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a809b6e4ade7ae32f6d248f2a3b783d45">NonCopyable</a> ()=default</td></tr>
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    148. 

  148. <tr class="memitem:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable" id="r_a501d34ffcc34b30de6d541887a901057"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a501d34ffcc34b30de6d541887a901057">NonCopyable</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
    149. 

  149. <tr class="separator:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
    150. 

  150. <tr class="memitem:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable" id="r_aaf9b12dcaae80c9d304df7a941d4e21f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#aaf9b12dcaae80c9d304df7a941d4e21f">operator=</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
    151. 

  151. <tr class="separator:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
    152. 

  152. </table>
    153. 

  153. <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
    154. 

  154. <div class="textblock"><p>Convex vs convex collision detection Based on: A Fast and Robust GJK Implementation for Collision Detection of Convex Objects - Gino van den Bergen </p>
    155. 

  155. </div><h2 class="groupheader">Member Function Documentation</h2>
    156. 

  156. <a id="ade3cde48252b6f77f749f9ac29685ec7" name="ade3cde48252b6f77f749f9ac29685ec7"></a>
    157. 

  157. <h2 class="memtitle"><span class="permalink"><a href="#ade3cde48252b6f77f749f9ac29685ec7">&#9670;&#160;</a></span>CastRay()</h2>
    158. 

  158. 

  159. <div class="memitem">
    160. 

  160. <div class="memproto">
    161. 

  161. <div class="memtemplate">
    162. 

  162. template&lt;typename A &gt; </div>
    163. 

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

  164.   <tr>
    165. 

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

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

  167.         <tr>
    168. 

  168.           <td class="memname">bool GJKClosestPoint::CastRay </td>
    169. 

  169.           <td>(</td>
    170. 

  170.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRayOrigin</em></span>, </td>
    171. 

  171.         </tr>
    172. 

  172.         <tr>
    173. 

  173.           <td class="paramkey"></td>
    174. 

  174.           <td></td>
    175. 

  175.           <td class="paramtype"><a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a></td>          <td class="paramname"><span class="paramname"><em>inRayDirection</em></span>, </td>
    176. 

  176.         </tr>
    177. 

  177.         <tr>
    178. 

  178.           <td class="paramkey"></td>
    179. 

  179.           <td></td>
    180. 

  180.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    181. 

  181.         </tr>
    182. 

  182.         <tr>
    183. 

  183.           <td class="paramkey"></td>
    184. 

  184.           <td></td>
    185. 

  185.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    186. 

  186.         </tr>
    187. 

  187.         <tr>
    188. 

  188.           <td class="paramkey"></td>
    189. 

  189.           <td></td>
    190. 

  190.           <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>ioLambda</em></span>&#160;)</td>
    191. 

  191.         </tr>
    192. 

  192.       </table>
    193. 

  193.   </td>
    194. 

  194.   <td class="mlabels-right">
    195. 

  195. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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  196.   </tr>
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  198. </div><div class="memdoc">
    199. 

  199. <p>Test if a ray inRayOrigin + lambda * inRayDirection for lambda e [0, ioLambda&gt; intersects inA</p>
    200. 

  200. <p>Code based upon: Ray Casting against General Convex Objects with Application to Continuous Collision Detection - Gino van den Bergen</p>
    201. 

  201. <dl class="params"><dt>Parameters</dt><dd>
    202. 

  202.   <table class="params">
    203. 

  203.     <tr><td class="paramname">inRayOrigin</td><td>Origin of the ray </td></tr>
    204. 

  204.     <tr><td class="paramname">inRayDirection</td><td>Direction of the ray (ioLambda * inDirection determines length) </td></tr>
    205. 

  205.     <tr><td class="paramname">inTolerance</td><td>The minimal distance between the ray and A before it is considered colliding </td></tr>
    206. 

  206.     <tr><td class="paramname">inA</td><td>A convex object that has the GetSupport(Vec3) function </td></tr>
    207. 

  207.     <tr><td class="paramname">ioLambda</td><td>The max fraction along the ray, on output updated with the actual collision fraction.</td></tr>
    208. 

  208.   </table>
    209. 

  209.   </dd>
    210. 

  210. </dl>
    211. 

  211. <dl class="section return"><dt>Returns</dt><dd>true if a hit was found, ioLambda is the solution for lambda. </dd></dl>
    212. 

  212. 

  213. </div>
    214. 

  214. </div>
    215. 

  215. <a id="a66d20557ad6d34a1c1f29b6df058b523" name="a66d20557ad6d34a1c1f29b6df058b523"></a>
    216. 

  216. <h2 class="memtitle"><span class="permalink"><a href="#a66d20557ad6d34a1c1f29b6df058b523">&#9670;&#160;</a></span>CastShape() <span class="overload">[1/2]</span></h2>
    217. 

  217. 

  218. <div class="memitem">
    219. 

  219. <div class="memproto">
    220. 

  220. <div class="memtemplate">
    221. 

  221. template&lt;typename A , typename B &gt; </div>
    222. 

  222. <table class="mlabels">
    223. 

  223.   <tr>
    224. 

  224.   <td class="mlabels-left">
    225. 

  225.       <table class="memname">
    226. 

  226.         <tr>
    227. 

  227.           <td class="memname">bool GJKClosestPoint::CastShape </td>
    228. 

  228.           <td>(</td>
    229. 

  229.           <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>
    230. 

  230.         </tr>
    231. 

  231.         <tr>
    232. 

  232.           <td class="paramkey"></td>
    233. 

  233.           <td></td>
    234. 

  234.           <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>
    235. 

  235.         </tr>
    236. 

  236.         <tr>
    237. 

  237.           <td class="paramkey"></td>
    238. 

  238.           <td></td>
    239. 

  239.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    240. 

  240.         </tr>
    241. 

  241.         <tr>
    242. 

  242.           <td class="paramkey"></td>
    243. 

  243.           <td></td>
    244. 

  244.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    245. 

  245.         </tr>
    246. 

  246.         <tr>
    247. 

  247.           <td class="paramkey"></td>
    248. 

  248.           <td></td>
    249. 

  249.           <td class="paramtype">const B &amp;</td>          <td class="paramname"><span class="paramname"><em>inB</em></span>, </td>
    250. 

  250.         </tr>
    251. 

  251.         <tr>
    252. 

  252.           <td class="paramkey"></td>
    253. 

  253.           <td></td>
    254. 

  254.           <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>ioLambda</em></span>&#160;)</td>
    255. 

  255.         </tr>
    256. 

  256.       </table>
    257. 

  257.   </td>
    258. 

  258.   <td class="mlabels-right">
    259. 

  259. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    260. 

  260.   </tr>
    261. 

  261. </table>
    262. 

  262. </div><div class="memdoc">
    263. 

  263. <p>Test if a cast shape inA moving from inStart to lambda * inStart.GetTranslation() + inDirection where lambda e [0, ioLambda&gt; intersects inB</p>
    264. 

  264. <dl class="params"><dt>Parameters</dt><dd>
    265. 

  265.   <table class="params">
    266. 

  266.     <tr><td class="paramname">inStart</td><td>Start position and orientation of the convex object </td></tr>
    267. 

  267.     <tr><td class="paramname">inDirection</td><td>Direction of the sweep (ioLambda * inDirection determines length) </td></tr>
    268. 

  268.     <tr><td class="paramname">inTolerance</td><td>The minimal distance between A and B before they are considered colliding </td></tr>
    269. 

  269.     <tr><td class="paramname">inA</td><td>The convex object A, must support the GetSupport(Vec3) function. </td></tr>
    270. 

  270.     <tr><td class="paramname">inB</td><td>The convex object B, must support the GetSupport(Vec3) function. </td></tr>
    271. 

  271.     <tr><td class="paramname">ioLambda</td><td>The max fraction along the sweep, on output updated with the actual collision fraction.</td></tr>
    272. 

  272.   </table>
    273. 

  273.   </dd>
    274. 

  274. </dl>
    275. 

  275. <dl class="section return"><dt>Returns</dt><dd>true if a hit was found, ioLambda is the solution for lambda. </dd></dl>
    276. 

  276. 

  277. </div>
    278. 

  278. </div>
    279. 

  279. <a id="aa5b19da7e23744cb5c1af8fe2fee2940" name="aa5b19da7e23744cb5c1af8fe2fee2940"></a>
    280. 

  280. <h2 class="memtitle"><span class="permalink"><a href="#aa5b19da7e23744cb5c1af8fe2fee2940">&#9670;&#160;</a></span>CastShape() <span class="overload">[2/2]</span></h2>
    281. 

  281. 

  282. <div class="memitem">
    283. 

  283. <div class="memproto">
    284. 

  284. <div class="memtemplate">
    285. 

  285. template&lt;typename A , typename B &gt; </div>
    286. 

  286. <table class="mlabels">
    287. 

  287.   <tr>
    288. 

  288.   <td class="mlabels-left">
    289. 

  289.       <table class="memname">
    290. 

  290.         <tr>
    291. 

  291.           <td class="memname">bool GJKClosestPoint::CastShape </td>
    292. 

  292.           <td>(</td>
    293. 

  293.           <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>
    294. 

  294.         </tr>
    295. 

  295.         <tr>
    296. 

  296.           <td class="paramkey"></td>
    297. 

  297.           <td></td>
    298. 

  298.           <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>
    299. 

  299.         </tr>
    300. 

  300.         <tr>
    301. 

  301.           <td class="paramkey"></td>
    302. 

  302.           <td></td>
    303. 

  303.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    304. 

  304.         </tr>
    305. 

  305.         <tr>
    306. 

  306.           <td class="paramkey"></td>
    307. 

  307.           <td></td>
    308. 

  308.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    309. 

  309.         </tr>
    310. 

  310.         <tr>
    311. 

  311.           <td class="paramkey"></td>
    312. 

  312.           <td></td>
    313. 

  313.           <td class="paramtype">const B &amp;</td>          <td class="paramname"><span class="paramname"><em>inB</em></span>, </td>
    314. 

  314.         </tr>
    315. 

  315.         <tr>
    316. 

  316.           <td class="paramkey"></td>
    317. 

  317.           <td></td>
    318. 

  318.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusA</em></span>, </td>
    319. 

  319.         </tr>
    320. 

  320.         <tr>
    321. 

  321.           <td class="paramkey"></td>
    322. 

  322.           <td></td>
    323. 

  323.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inConvexRadiusB</em></span>, </td>
    324. 

  324.         </tr>
    325. 

  325.         <tr>
    326. 

  326.           <td class="paramkey"></td>
    327. 

  327.           <td></td>
    328. 

  328.           <td class="paramtype">float &amp;</td>          <td class="paramname"><span class="paramname"><em>ioLambda</em></span>, </td>
    329. 

  329.         </tr>
    330. 

  330.         <tr>
    331. 

  331.           <td class="paramkey"></td>
    332. 

  332.           <td></td>
    333. 

  333.           <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>
    334. 

  334.         </tr>
    335. 

  335.         <tr>
    336. 

  336.           <td class="paramkey"></td>
    337. 

  337.           <td></td>
    338. 

  338.           <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>
    339. 

  339.         </tr>
    340. 

  340.         <tr>
    341. 

  341.           <td class="paramkey"></td>
    342. 

  342.           <td></td>
    343. 

  343.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outSeparatingAxis</em></span>&#160;)</td>
    344. 

  344.         </tr>
    345. 

  345.       </table>
    346. 

  346.   </td>
    347. 

  347.   <td class="mlabels-right">
    348. 

  348. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    349. 

  349.   </tr>
    350. 

  350. </table>
    351. 

  351. </div><div class="memdoc">
    352. 

  352. <p>Test if a cast shape inA moving from inStart to lambda * inStart.GetTranslation() + inDirection where lambda e [0, ioLambda&gt; intersects inB</p>
    353. 

  353. <dl class="params"><dt>Parameters</dt><dd>
    354. 

  354.   <table class="params">
    355. 

  355.     <tr><td class="paramname">inStart</td><td>Start position and orientation of the convex object </td></tr>
    356. 

  356.     <tr><td class="paramname">inDirection</td><td>Direction of the sweep (ioLambda * inDirection determines length) </td></tr>
    357. 

  357.     <tr><td class="paramname">inTolerance</td><td>The minimal distance between A and B before they are considered colliding </td></tr>
    358. 

  358.     <tr><td class="paramname">inA</td><td>The convex object A, must support the GetSupport(Vec3) function. </td></tr>
    359. 

  359.     <tr><td class="paramname">inB</td><td>The convex object B, must support the GetSupport(Vec3) function. </td></tr>
    360. 

  360.     <tr><td class="paramname">inConvexRadiusA</td><td>The convex radius of A, this will be added on all sides to pad A. </td></tr>
    361. 

  361.     <tr><td class="paramname">inConvexRadiusB</td><td>The convex radius of B, this will be added on all sides to pad B. </td></tr>
    362. 

  362.     <tr><td class="paramname">ioLambda</td><td>The max fraction along the sweep, on output updated with the actual collision fraction. </td></tr>
    363. 

  363.     <tr><td class="paramname">outPointA</td><td>is the contact point on A (if outSeparatingAxis is near zero, this may not be not the deepest point) </td></tr>
    364. 

  364.     <tr><td class="paramname">outPointB</td><td>is the contact point on B (if outSeparatingAxis is near zero, this may not be not the deepest point) </td></tr>
    365. 

  365.     <tr><td class="paramname">outSeparatingAxis</td><td>On return this will contain a vector that points from A to B along the smallest distance of separation. The length of this vector indicates the separation of A and B without their convex radius. If it is near zero, the direction may not be accurate as the bodies may overlap when lambda = 0.</td></tr>
    366. 

  366.   </table>
    367. 

  367.   </dd>
    368. 

  368. </dl>
    369. 

  369. <dl class="section return"><dt>Returns</dt><dd>true if a hit was found, ioLambda is the solution for lambda and outPoint and outSeparatingAxis are valid. </dd></dl>
    370. 

  370. 

  371. </div>
    372. 

  372. </div>
    373. 

  373. <a id="abb7cfdd49d708007d75b4c2e9b90ebb9" name="abb7cfdd49d708007d75b4c2e9b90ebb9"></a>
    374. 

  374. <h2 class="memtitle"><span class="permalink"><a href="#abb7cfdd49d708007d75b4c2e9b90ebb9">&#9670;&#160;</a></span>GetClosestPoints()</h2>
    375. 

  375. 

  376. <div class="memitem">
    377. 

  377. <div class="memproto">
    378. 

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

  379. template&lt;typename A , typename B &gt; </div>
    380. 

  380. <table class="mlabels">
    381. 

  381.   <tr>
    382. 

  382.   <td class="mlabels-left">
    383. 

  383.       <table class="memname">
    384. 

  384.         <tr>
    385. 

  385.           <td class="memname">float GJKClosestPoint::GetClosestPoints </td>
    386. 

  386.           <td>(</td>
    387. 

  387.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    388. 

  388.         </tr>
    389. 

  389.         <tr>
    390. 

  390.           <td class="paramkey"></td>
    391. 

  391.           <td></td>
    392. 

  392.           <td class="paramtype">const B &amp;</td>          <td class="paramname"><span class="paramname"><em>inB</em></span>, </td>
    393. 

  393.         </tr>
    394. 

  394.         <tr>
    395. 

  395.           <td class="paramkey"></td>
    396. 

  396.           <td></td>
    397. 

  397.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    398. 

  398.         </tr>
    399. 

  399.         <tr>
    400. 

  400.           <td class="paramkey"></td>
    401. 

  401.           <td></td>
    402. 

  402.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inMaxDistSq</em></span>, </td>
    403. 

  403.         </tr>
    404. 

  404.         <tr>
    405. 

  405.           <td class="paramkey"></td>
    406. 

  406.           <td></td>
    407. 

  407.           <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>
    408. 

  408.         </tr>
    409. 

  409.         <tr>
    410. 

  410.           <td class="paramkey"></td>
    411. 

  411.           <td></td>
    412. 

  412.           <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>
    413. 

  413.         </tr>
    414. 

  414.         <tr>
    415. 

  415.           <td class="paramkey"></td>
    416. 

  416.           <td></td>
    417. 

  417.           <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>
    418. 

  418.         </tr>
    419. 

  419.       </table>
    420. 

  420.   </td>
    421. 

  421.   <td class="mlabels-right">
    422. 

  422. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    423. 

  423.   </tr>
    424. 

  424. </table>
    425. 

  425. </div><div class="memdoc">
    426. 

  426. <p>Get closest points between inA and inB</p>
    427. 

  427. <dl class="params"><dt>Parameters</dt><dd>
    428. 

  428.   <table class="params">
    429. 

  429.     <tr><td class="paramname">inA</td><td>The convex object A, must support the GetSupport(Vec3) function. </td></tr>
    430. 

  430.     <tr><td class="paramname">inB</td><td>The convex object B, must support the GetSupport(Vec3) function. </td></tr>
    431. 

  431.     <tr><td class="paramname">inTolerance</td><td>The minimal distance between A and B before the objects are considered colliding and processing is terminated. </td></tr>
    432. 

  432.     <tr><td class="paramname">inMaxDistSq</td><td>The maximum squared distance between A and B before the objects are considered infinitely far away and processing is terminated. </td></tr>
    433. 

  433.     <tr><td class="paramname">ioV</td><td>Initial guess for the separating axis. Start with any non-zero vector if you don't know. If return value is 0, ioV = (0, 0, 0). If the return value is bigger than 0 but smaller than FLT_MAX, ioV will be the separating axis in the direction from A to B and its length the squared distance between A and B. If the return value is FLT_MAX, ioV will be the separating axis in the direction from A to B and the magnitude of the vector is meaningless. </td></tr>
    434. 

  434.     <tr><td class="paramname">outPointA,outPointB</td><td>If the return value is 0 the points are invalid. If the return value is bigger than 0 but smaller than FLT_MAX these will contain the closest point on A and B. If the return value is FLT_MAX the points are invalid.</td></tr>
    435. 

  435.   </table>
    436. 

  436.   </dd>
    437. 

  437. </dl>
    438. 

  438. <dl class="section return"><dt>Returns</dt><dd>The squared distance between A and B or FLT_MAX when they are further away than inMaxDistSq. </dd></dl>
    439. 

  439. 

  440. </div>
    441. 

  441. </div>
    442. 

  442. <a id="a73d6f276fb275026a0126ca7361fb2bf" name="a73d6f276fb275026a0126ca7361fb2bf"></a>
    443. 

  443. <h2 class="memtitle"><span class="permalink"><a href="#a73d6f276fb275026a0126ca7361fb2bf">&#9670;&#160;</a></span>GetClosestPointsSimplex()</h2>
    444. 

  444. 

  445. <div class="memitem">
    446. 

  446. <div class="memproto">
    447. 

  447. <table class="mlabels">
    448. 

  448.   <tr>
    449. 

  449.   <td class="mlabels-left">
    450. 

  450.       <table class="memname">
    451. 

  451.         <tr>
    452. 

  452.           <td class="memname">void GJKClosestPoint::GetClosestPointsSimplex </td>
    453. 

  453.           <td>(</td>
    454. 

  454.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> *</td>          <td class="paramname"><span class="paramname"><em>outY</em></span>, </td>
    455. 

  455.         </tr>
    456. 

  456.         <tr>
    457. 

  457.           <td class="paramkey"></td>
    458. 

  458.           <td></td>
    459. 

  459.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> *</td>          <td class="paramname"><span class="paramname"><em>outP</em></span>, </td>
    460. 

  460.         </tr>
    461. 

  461.         <tr>
    462. 

  462.           <td class="paramkey"></td>
    463. 

  463.           <td></td>
    464. 

  464.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> *</td>          <td class="paramname"><span class="paramname"><em>outQ</em></span>, </td>
    465. 

  465.         </tr>
    466. 

  466.         <tr>
    467. 

  467.           <td class="paramkey"></td>
    468. 

  468.           <td></td>
    469. 

  469.           <td class="paramtype"><a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>outNumPoints</em></span>&#160;) const</td>
    470. 

  470.         </tr>
    471. 

  471.       </table>
    472. 

  472.   </td>
    473. 

  473.   <td class="mlabels-right">
    474. 

  474. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    475. 

  475.   </tr>
    476. 

  476. </table>
    477. 

  477. </div><div class="memdoc">
    478. 

  478. <p>Get the resulting simplex after the GetClosestPoints algorithm finishes. If it returned a squared distance of 0, the origin will be contained in the simplex. </p>
    479. 

  479. 

  480. </div>
    481. 

  481. </div>
    482. 

  482. <a id="a20ab4d36efcf62ceae244ec75eb4bc23" name="a20ab4d36efcf62ceae244ec75eb4bc23"></a>
    483. 

  483. <h2 class="memtitle"><span class="permalink"><a href="#a20ab4d36efcf62ceae244ec75eb4bc23">&#9670;&#160;</a></span>Intersects()</h2>
    484. 

  484. 

  485. <div class="memitem">
    486. 

  486. <div class="memproto">
    487. 

  487. <div class="memtemplate">
    488. 

  488. template&lt;typename A , typename B &gt; </div>
    489. 

  489. <table class="mlabels">
    490. 

  490.   <tr>
    491. 

  491.   <td class="mlabels-left">
    492. 

  492.       <table class="memname">
    493. 

  493.         <tr>
    494. 

  494.           <td class="memname">bool GJKClosestPoint::Intersects </td>
    495. 

  495.           <td>(</td>
    496. 

  496.           <td class="paramtype">const A &amp;</td>          <td class="paramname"><span class="paramname"><em>inA</em></span>, </td>
    497. 

  497.         </tr>
    498. 

  498.         <tr>
    499. 

  499.           <td class="paramkey"></td>
    500. 

  500.           <td></td>
    501. 

  501.           <td class="paramtype">const B &amp;</td>          <td class="paramname"><span class="paramname"><em>inB</em></span>, </td>
    502. 

  502.         </tr>
    503. 

  503.         <tr>
    504. 

  504.           <td class="paramkey"></td>
    505. 

  505.           <td></td>
    506. 

  506.           <td class="paramtype">float</td>          <td class="paramname"><span class="paramname"><em>inTolerance</em></span>, </td>
    507. 

  507.         </tr>
    508. 

  508.         <tr>
    509. 

  509.           <td class="paramkey"></td>
    510. 

  510.           <td></td>
    511. 

  511.           <td class="paramtype"><a class="el" href="class_vec3.html">Vec3</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>ioV</em></span>&#160;)</td>
    512. 

  512.         </tr>
    513. 

  513.       </table>
    514. 

  514.   </td>
    515. 

  515.   <td class="mlabels-right">
    516. 

  516. <span class="mlabels"><span class="mlabel">inline</span></span>  </td>
    517. 

  517.   </tr>
    518. 

  518. </table>
    519. 

  519. </div><div class="memdoc">
    520. 

  520. <p>Test if inA and inB intersect</p>
    521. 

  521. <dl class="params"><dt>Parameters</dt><dd>
    522. 

  522.   <table class="params">
    523. 

  523.     <tr><td class="paramname">inA</td><td>The convex object A, must support the GetSupport(Vec3) function. </td></tr>
    524. 

  524.     <tr><td class="paramname">inB</td><td>The convex object B, must support the GetSupport(Vec3) function. </td></tr>
    525. 

  525.     <tr><td class="paramname">inTolerance</td><td>Minimal distance between objects when the objects are considered to be colliding </td></tr>
    526. 

  526.     <tr><td class="paramname">ioV</td><td>is used as initial separating axis (provide a zero vector if you don't know yet)</td></tr>
    527. 

  527.   </table>
    528. 

  528.   </dd>
    529. 

  529. </dl>
    530. 

  530. <dl class="section return"><dt>Returns</dt><dd>True if they intersect (in which case ioV = (0, 0, 0)). False if they don't intersect in which case ioV is a separating axis in the direction from A to B (magnitude is meaningless) </dd></dl>
    531. 

  531. 

  532. </div>
    533. 

  533. </div>
    534. 

  534. <hr/>The documentation for this class was generated from the following file:<ul>
    535. 

  535. <li>Jolt/Geometry/<a class="el" href="_g_j_k_closest_point_8h_source.html">GJKClosestPoint.h</a></li>
    536. 

  536. </ul>
    537. 

  537. </div><!-- contents -->
    538. 

  538. </div><!-- doc-content -->
    539. 

  539. <!-- start footer part -->
    540. 

  540. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    541. 

  541.   <ul>
    542. 

  542.     <li class="navelem"><a class="el" href="class_g_j_k_closest_point.html">GJKClosestPoint</a></li>
    543. 

  543.     <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.12.0 </li>
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    548.