Chaos::GJKPenetrationTemp

Assumes objects are already intersecting, computes a minimum translation distance, deepest penetration positions on each body, and approximates a penetration normal and minimum translation distance.

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References

Module

Chaos

Header

/Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/GJK.h

Include

#include "Chaos/GJK.h"

Syntax

namespace Chaos
{
    template<typename T, typename TGeometryA, typename TGeometryB>
    bool Chaos::GJKPenetrationTemp
    (
        const TGeometryA & A,
        const TGeometryB & B,
        const TRigidTransform < T, 3 > & BToATM,
        TVector < T, 3 > & OutPositionA,
        TVector < T, 3 > & OutPositionB,
        TVector < T, 3 > & OutNormal,
        T & OutDistance,
        const T ThicknessA,
        const TVector < T, 3 > & InitialDir,
        const T ThicknessB,
        const T Epsilon,
        const int32 MaxIts
    )
}

Remarks

Assumes objects are already intersecting, computes a minimum translation distance, deepest penetration positions on each body, and approximates a penetration normal and minimum translation distance.

TODO: We want to re-visit how these functions work. Probably should be embedded in GJKOverlap and GJKRaycast so that secondary queries are unnecessary.

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