tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector Class Reference

This is a modifed Convex to Convex collision algorithm. More...

#include <tesseract_gjk_pair_detector.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector:

Collaboration diagram for tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector:

Public Member Functions
	TesseractGjkPairDetector (const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver, const ContactTestData *cdata)
	TesseractGjkPairDetector (const btConvexShape *objectA, const btConvexShape *objectB, int shapeTypeA, int shapeTypeB, btScalar marginA, btScalar marginB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver, const ContactTestData *cdata)
void	getClosestPoints (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw, bool swapResults=false) override
void	getClosestPointsNonVirtual (const ClosestPointInput &input, Result &output, class btIDebugDraw *debugDraw)
void	setMinkowskiA (const btConvexShape *minkA)
void	setMinkowskiB (const btConvexShape *minkB)
void	setCachedSeparatingAxis (const btVector3 &separatingAxis)
const btVector3 &	getCachedSeparatingAxis () const
btScalar	getCachedSeparatingDistance () const
void	setPenetrationDepthSolver (btConvexPenetrationDepthSolver *penetrationDepthSolver)
void	setIgnoreMargin (bool ignoreMargin)
	don't use setIgnoreMargin, it's for Bullet's internal use More...

Public Attributes
int	m_lastUsedMethod
int	m_curIter { 0 }
int	m_degenerateSimplex { 0 }
int	m_catchDegeneracies
int	m_fixContactNormalDirection

Private Attributes
btVector3	m_cachedSeparatingAxis
btConvexPenetrationDepthSolver *	m_penetrationDepthSolver
btSimplexSolverInterface *	m_simplexSolver
const btConvexShape *	m_minkowskiA
const btConvexShape *	m_minkowskiB
int	m_shapeTypeA
int	m_shapeTypeB
btScalar	m_marginA
btScalar	m_marginB
bool	m_ignoreMargin
btScalar	m_cachedSeparatingDistance { 0 }
const ContactTestData *	m_cdata

Detailed Description

This is a modifed Convex to Convex collision algorithm.

This was modified to leverage the Tesseract contact request to enable and disable different parts of the algorithm. The algorithm first does a quick binary check if the two objects are in collision. If in collision it runs the penetration algorithm to get the nearest points and penetration depths. If not in collision it runs the an algorithm to get the nearest points and distance. The Tesseract contact request allow you to now decide if you need all three. Example, in the case of OMPL if you have a contact distance of zero you can get a performance increase, by disabling the penetration and distance calculation because they add no value.

Note: This will not be able to be removed.

Constructor & Destructor Documentation

TesseractGjkPairDetector() [1/2]

tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::TesseractGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver,
		const ContactTestData *	cdata
	)

TesseractGjkPairDetector() [2/2]

tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::TesseractGjkPairDetector	(	const btConvexShape *	objectA,
		const btConvexShape *	objectB,
		int	shapeTypeA,
		int	shapeTypeB,
		btScalar	marginA,
		btScalar	marginB,
		btSimplexSolverInterface *	simplexSolver,
		btConvexPenetrationDepthSolver *	penetrationDepthSolver,
		const ContactTestData *	cdata
	)

Member Function Documentation

getCachedSeparatingAxis()

const btVector3 & tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::getCachedSeparatingAxis ( ) const

inline

getCachedSeparatingDistance()

btScalar tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::getCachedSeparatingDistance ( ) const

inline

getClosestPoints()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::getClosestPoints ( const ClosestPointInput &  input, Result &  output, class btIDebugDraw *  debugDraw, bool  swapResults = false  )

override

getClosestPointsNonVirtual()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::getClosestPointsNonVirtual	(	const ClosestPointInput &	input,
		Result &	output,
		class btIDebugDraw *	debugDraw
	)

this is another degenerate case, where the initial GJK calculation reports a degenerate case EPA reports no penetration, and the second GJK (using the supporting vector without margin) reports a valid positive distance. Use the results of the second GJK instead of failing. thanks to Jacob.Langford for the reproduction case http://code.google.com/p/bullet/issues/detail?id=250

todo: need to track down this EPA penetration solver degeneracy the penetration solver reports penetration but the contact normal connecting the contact points is pointing in the opposite direction until then, detect the issue and revert the normal

setCachedSeparatingAxis()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::setCachedSeparatingAxis ( const btVector3 &  separatingAxis )

inline

setIgnoreMargin()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::setIgnoreMargin ( bool  ignoreMargin )

inline

don't use setIgnoreMargin, it's for Bullet's internal use

setMinkowskiA()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::setMinkowskiA ( const btConvexShape *  minkA )

inline

setMinkowskiB()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::setMinkowskiB ( const btConvexShape *  minkB )

inline

setPenetrationDepthSolver()

void tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::setPenetrationDepthSolver ( btConvexPenetrationDepthSolver *  penetrationDepthSolver )

inline

Member Data Documentation

m_cachedSeparatingAxis

btVector3 tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_cachedSeparatingAxis

private

m_cachedSeparatingDistance

btScalar tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_cachedSeparatingDistance { 0 }

private

m_catchDegeneracies

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_catchDegeneracies

m_cdata

const ContactTestData* tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_cdata

private

m_curIter

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_curIter { 0 }

m_degenerateSimplex

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_degenerateSimplex { 0 }

m_fixContactNormalDirection

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_fixContactNormalDirection

m_ignoreMargin

bool tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_ignoreMargin

private

m_lastUsedMethod

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_lastUsedMethod

m_marginA

btScalar tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_marginA

private

m_marginB

btScalar tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_marginB

private

m_minkowskiA

const btConvexShape* tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_minkowskiA

private

m_minkowskiB

const btConvexShape* tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_minkowskiB

private

m_penetrationDepthSolver

btConvexPenetrationDepthSolver* tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_penetrationDepthSolver

private

m_shapeTypeA

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_shapeTypeA

private

m_shapeTypeB

int tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_shapeTypeB

private

m_simplexSolver

btSimplexSolverInterface* tesseract_collision::tesseract_collision_bullet::TesseractGjkPairDetector::m_simplexSolver

private

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

• tesseract_collision/bullet/include/tesseract_collision/bullet/tesseract_gjk_pair_detector.h
• tesseract_collision/bullet/src/tesseract_gjk_pair_detector.cpp