Chaos::GJKPenetration

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References

namespace Chaos  
{  
    template<bool bNegativePenetrationAllowed, typename T, typename TGeometryA, typename TGeometryB>  
    bool Chaos::GJKPenetration  
    (  
        const TGeometryA & A,  
        const TGeometryB & B,  
        const TRigidTransform < T, 3 > & BToATM,  
        T & OutPenetration,  
        TVec3 < T > & OutClosestA,  
        TVec3 < T > & OutClosestB,  
        TVec3 < T > & OutNormal,  
        int32 & OutClosestVertexIndexA,  
        int32 & OutClosestVertexIndexB,  
        const T InThicknessA,  
        const T InThicknessB,  
        const TVector < T, 3 > & InitialDir,  
        const T Epsilon  
    )  
}  
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namespace Chaos {     template<bool bNegativePenetrationAllowed, typename T, typename TGeometryA, typename TGeometryB>     bool Chaos::GJKPenetration     (         const TGeometryA & A,         const TGeometryB & B,         const TRigidTransform < T, 3 > & BToATM,         T & OutPenetration,         TVec3 < T > & OutClosestA,         TVec3 < T > & OutClosestB,         TVec3 < T > & OutNormal,         int32 & OutClosestVertexIndexA,         int32 & OutClosestVertexIndexB,         const T InThicknessA,         const T InThicknessB,         const TVector < T, 3 > & InitialDir,         const T Epsilon     ) }

Remarks

Calculate the penetration depth (or separating distance) of two geometries.

Set bNegativePenetrationAllowed to false (default) if you do not care about the normal and distance when the shapes are separated. The return value will be false if the shapes are separated, and the function will be faster because it does not need to determine the closest point. If the shapes are overlapping, the function will return true and populate the output parameters with the contact information.

Set bNegativePenetrationAllowed to true if you need to know the closest point on the shapes, even when they are separated. In this case, we need to iterate to find the best solution even when objects are separated which is more expensive. The return value will be true as long as the algorithm was able to find a solution (i.e., the return value is not related to whether the shapes are overlapping) and the output parameters will be populated with the contact information.

In all cases, if the function returns false the output parameters are undefined.

OutClosestA and OutClosestB are the closest or deepest-penetrating points on the two core geometries, both in the space of A and ignoring the margin.

Epsilon is the separation at which GJK considers the objects to be in contact or penetrating and then runs EPA. If this is too small, then the renormalization of the separating vector can lead to arbitrarily wrong normals for almost-touching objects.

NOTE: OutPenetration is the penetration including the Thickness (i.e., the actual penetration depth), but the closest points returned are on the core shapes (i.e., ignoring the Thickness). If you want the closest positions on the shape surface (including the Thickness) use GJKPenetration().