GjkCollisionState

Temporary values

Point3F

p [4]

Point3F

q [4]

VectorF

y [4]

S32

bits 

S32

all_bits 

F32

det [16][4]

F32

dp [4][4]

S32

last 

S32

last_bit 

Public Functions

GjkCollisionState()

~GjkCollisionState()

bool

closest(VectorF & v)

void

compute_det()

void

compute_vector(S32 bits, VectorF & v)

bool

degenerate(const VectorF & w)

F32

distance(const MatrixF & a2w, const MatrixF & b2w, const F32 dontCareDist, const MatrixF * w2a, const MatrixF * _w2b)

void

getClosestPoints(Point3F & p1, Point3F & p2)

void

getCollisionInfo(const MatrixF & mat, Collision * info)

bool

intersect(const MatrixF & a2w, const MatrixF & b2w)

void

nextBit()

void

reset(const MatrixF & a2w, const MatrixF & b2w)

void

set(Convex * a, Convex * b, const MatrixF & a2w, const MatrixF & b2w)

void

swap()

bool

valid(S32 s)

Temporary values

Point3F p [4]

support points of object A in local coordinates

Point3F q [4]

support points of object B in local coordinates

VectorF y [4]

support points of A - B in world coordinates

S32 bits 

identifies current simplex

S32 all_bits 

all_bits = bits | last_bit

F32 det [16][4]

cached sub-determinants

F32 dp [4][4]

cached dot products

S32 last 

identifies last found support point

S32 last_bit 

last_bit = 1<

GjkCollisionState()

~GjkCollisionState()

closest(VectorF & v)

compute_det()

compute_vector(S32 bits, VectorF & v)

degenerate(const VectorF & w)

distance(const MatrixF & a2w, const MatrixF & b2w, const F32 dontCareDist, const MatrixF * w2a, const MatrixF * _w2b)

getClosestPoints(Point3F & p1, Point3F & p2)

getCollisionInfo(const MatrixF & mat, Collision * info)

intersect(const MatrixF & a2w, const MatrixF & b2w)

nextBit()

reset(const MatrixF & a2w, const MatrixF & b2w)

set(Convex * a, Convex * b, const MatrixF & a2w, const MatrixF & b2w)

swap()

valid(S32 s)