Chaos::EPA

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Overloads

Chaos::EPA(TArray< TVec3< T > > &, TArray< TVec3< T > > &, const TSupportA &, const TSupportB &, T &, TVec3< T > &, TVec3< T > &, TVec3< T > &, const FReal)

Description

Expanding Polytope Algorithm for finding the contact point for overlapping convex polyhedra. See e.g., "Collision Detection in Interactive 3D Environments" (Gino van den Bergen, 2004) or "Real-time Collision Detection with Implicit Objects" (Leif Olvang, 2010)

namespace Chaos  
{  
    template<typename T, typename TSupportA, typename TSupportB>  
    EEPAResult Chaos::EPA  
    (  
        TArray < TVec3< T > > & VertsABuffer,  
        TArray < TVec3< T > > & VertsBBuffer,  
        const TSupportA & SupportA,  
        const TSupportB & SupportB,  
        T & OutPenetration,  
        TVec3< T > & OutDir,  
        TVec3< T > & WitnessA,  
        TVec3< T > & WitnessB,  
        const FReal Eps  
    )  
}  
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namespace Chaos {     template<typename T, typename TSupportA, typename TSupportB>     EEPAResult Chaos::EPA     (         TArray < TVec3< T > > & VertsABuffer,         TArray < TVec3< T > > & VertsBBuffer,         const TSupportA & SupportA,         const TSupportB & SupportB,         T & OutPenetration,         TVec3< T > & OutDir,         TVec3< T > & WitnessA,         TVec3< T > & WitnessB,         const FReal Eps     ) }

Chaos::EPA(TArray< TVec3< T > > &, TArray< TVec3< T > > &, const TFunctionRef< TVector< T, 3 >(const TVec3< T > &V)> &, const TFunctionRef< TVector< T, 3 >(const TVec3< T > &V)> &, T &, TVec3< T > &, TVec3< T > &, TVec3< T > &, const FReal)

namespace Chaos  
{  
    template<typename T>  
    EEPAResult Chaos::EPA  
    (  
        TArray < TVec3< T > > & VertsABuffer,  
        TArray < TVec3< T > > & VertsBBuffer,  
        const TFunctionRef < TVector < T, 3 >> & SupportA,  
        const TFunctionRef < TVector < T, 3 >> & SupportB,  
        T & OutPenetration,  
        TVec3< T > & OutDir,  
        TVec3< T > & WitnessA,  
        TVec3< T > & WitnessB,  
        const FReal EpsRel  
    )  
}  
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namespace Chaos {     template<typename T>     EEPAResult Chaos::EPA     (         TArray < TVec3< T > > & VertsABuffer,         TArray < TVec3< T > > & VertsBBuffer,         const TFunctionRef < TVector < T, 3 >> & SupportA,         const TFunctionRef < TVector < T, 3 >> & SupportB,         T & OutPenetration,         TVec3< T > & OutDir,         TVec3< T > & WitnessA,         TVec3< T > & WitnessB,         const FReal EpsRel     ) }