EPAConvexHullBuilder Class Reference

A convex hull builder specifically made for the EPA penetration depth calculation. It trades accuracy for speed and will simply abort of the hull forms defects due to numerical precision problems. More...

#include <EPAConvexHullBuilder.h>

Inheritance diagram for EPAConvexHullBuilder:

Classes
class	Edge
	Class that holds the information of an edge. More...
class	Points
	Specialized points list that allows direct access to the size. More...
class	Triangle
	Class that holds the information of one triangle. More...
class	TriangleFactory
	Factory that creates triangles in a fixed size buffer. More...
class	TriangleQueue
	Specialized triangles list that keeps them sorted on closest distance to origin. More...

Public Types
using	Edges = StaticArray< Edge, cMaxEdgeLength >
using	NewTriangles = StaticArray< Triangle *, cMaxEdgeLength >
using	PointsBase = StaticArray< Vec3, cMaxPoints >
using	Triangles = StaticArray< Triangle *, cMaxTriangles >

Public Member Functions
	EPAConvexHullBuilder (const Points &inPositions)
	Constructor. More...
void	Initialize (int inIdx1, int inIdx2, int inIdx3)
	Initialize the hull with 3 points. More...
bool	HasNextTriangle () const
	Check if there's another triangle to process from the queue. More...
Triangle *	PeekClosestTriangleInQueue ()
	Access to the next closest triangle to the origin (won't remove it from the queue). More...
Triangle *	PopClosestTriangleFromQueue ()
	Access to the next closest triangle to the origin and remove it from the queue. More...
Triangle *	FindFacingTriangle (Vec3Arg inPosition, float &outBestDistSq)
bool	AddPoint (Triangle *inFacingTriangle, int inIdx, float inClosestDistSq, NewTriangles &outTriangles)
	Add a new point to the convex hull. More...
void	FreeTriangle (Triangle *inT)
	Free a triangle. More...
Public Member Functions inherited from NonCopyable
	NonCopyable ()=default
	NonCopyable (const NonCopyable &)=delete
void	operator= (const NonCopyable &)=delete

Static Public Attributes
static constexpr int	cMaxTriangles = 256
	Max triangles in hull. More...
static constexpr int	cMaxPoints = cMaxTriangles / 2
	Max number of points in hull. More...
static constexpr int	cMaxEdgeLength = 128
	Max number of edges in FindEdge. More...
static constexpr float	cMinTriangleArea = 1.0e-10f
	Minimum area of a triangle before, if smaller than this it will not be added to the priority queue. More...
static constexpr float	cBarycentricEpsilon = 1.0e-3f
	Epsilon value used to determine if a point is in the interior of a triangle. More...

Detailed Description

A convex hull builder specifically made for the EPA penetration depth calculation. It trades accuracy for speed and will simply abort of the hull forms defects due to numerical precision problems.

Member Typedef Documentation

Edges

using EPAConvexHullBuilder::Edges = StaticArray<Edge, cMaxEdgeLength>

NewTriangles

using EPAConvexHullBuilder::NewTriangles = StaticArray<Triangle *, cMaxEdgeLength>

PointsBase

using EPAConvexHullBuilder::PointsBase = StaticArray<Vec3, cMaxPoints>

Triangles

using EPAConvexHullBuilder::Triangles = StaticArray<Triangle *, cMaxTriangles>

Constructor & Destructor Documentation

EPAConvexHullBuilder()

EPAConvexHullBuilder::EPAConvexHullBuilder ( const Points &  inPositions )

inlineexplicit

Constructor.

Member Function Documentation

AddPoint()

bool EPAConvexHullBuilder::AddPoint ( Triangle *  inFacingTriangle, int  inIdx, float  inClosestDistSq, NewTriangles &  outTriangles  )

inline

Add a new point to the convex hull.

FindFacingTriangle()

Triangle * EPAConvexHullBuilder::FindFacingTriangle ( Vec3Arg  inPosition, float &  outBestDistSq  )

inline

Find the triangle on which inPosition is the furthest to the front Note this function works as long as all points added have been added with AddPoint(..., FLT_MAX).

FreeTriangle()

void EPAConvexHullBuilder::FreeTriangle ( Triangle *  inT )

inline

Free a triangle.

HasNextTriangle()

bool EPAConvexHullBuilder::HasNextTriangle ( ) const

inline

Check if there's another triangle to process from the queue.

Initialize()

void EPAConvexHullBuilder::Initialize ( int  inIdx1, int  inIdx2, int  inIdx3  )

inline

Initialize the hull with 3 points.

PeekClosestTriangleInQueue()

Triangle * EPAConvexHullBuilder::PeekClosestTriangleInQueue ( )

inline

Access to the next closest triangle to the origin (won't remove it from the queue).

PopClosestTriangleFromQueue()

Triangle * EPAConvexHullBuilder::PopClosestTriangleFromQueue ( )

inline

Access to the next closest triangle to the origin and remove it from the queue.

Member Data Documentation

cBarycentricEpsilon

constexpr float EPAConvexHullBuilder::cBarycentricEpsilon = 1.0e-3f

staticconstexpr

Epsilon value used to determine if a point is in the interior of a triangle.

cMaxEdgeLength

constexpr int EPAConvexHullBuilder::cMaxEdgeLength = 128

staticconstexpr

Max number of edges in FindEdge.

cMaxPoints

constexpr int EPAConvexHullBuilder::cMaxPoints = cMaxTriangles / 2

staticconstexpr

Max number of points in hull.

cMaxTriangles

constexpr int EPAConvexHullBuilder::cMaxTriangles = 256

staticconstexpr

Max triangles in hull.

cMinTriangleArea

constexpr float EPAConvexHullBuilder::cMinTriangleArea = 1.0e-10f

staticconstexpr

Minimum area of a triangle before, if smaller than this it will not be added to the priority queue.

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

• Jolt/Geometry/EPAConvexHullBuilder.h