playrho::TOIOutput Struct Reference

Output data for time of impact. More...

#include <TimeOfImpact.hpp>

Collaboration diagram for playrho::TOIOutput:

Classes
struct	Statistics
	Time of impact statistics. More...

Public Types
enum	State : std::uint8_t {   e_unknown, e_touching, e_separated, e_overlapped,   e_maxRootIters, e_nextAfter, e_maxToiIters, e_belowMinTarget,   e_maxDistIters, e_targetDepthExceedsTotalRadius, e_minTargetSquaredOverflow, e_maxTargetSquaredOverflow,   e_notFinite }
	State. More...

Public Member Functions
	TOIOutput ()=default
	Default constructor.
	TOIOutput (Real t, Statistics s, State z) noexcept
	Initializing constructor.

Public Attributes
Real	time = 0
	Time factor in range of [0,1] into the future.
Statistics	stats
	Statistics.
State	state = e_unknown
	State at time factor.

Related Functions
(Note that these are not member functions.)
TOIOutput	GetToiViaSat (const DistanceProxy &proxyA, const Sweep &sweepA, const DistanceProxy &proxyB, const Sweep &sweepB, ToiConf conf=GetDefaultToiConf())
	Gets the time of impact for two disjoint convex sets using the Separating Axis Theorem. More...

Detailed Description

Output data for time of impact.

Member Enumeration Documentation

State

enum playrho::TOIOutput::State : std::uint8_t

State.

Enumerator
e_unknown	Unknown. Unknown state. Note This is the default initialized state.
e_touching	Touching. Indicates that the returned time of impact for two convex polygons is for a time at which the two polygons are within the minimum and maximum target range inclusively. Note This is a desirable result. Time of impact is the time when the two convex polygons "touch".
e_separated	Separated. Indicates that the two convex polygons never actually collide during their defined sweeps. Note This is a desirable result. Time of impact in this case is tMax (which is typically 1).
e_overlapped	Overlapped. Indicates that the two convex polygons are closer to each other at the returned time than the target depth range allows for. Note Can happen if total radius of the two convex polygons is too small. Can happen if the tolerance is too low. Time of impact is the time when the two convex polygons have already collided too much.
e_maxRootIters	Max root iterations. Got to max number of root iterations allowed. Note Can happen if the configured max number of root iterations is too low. Can happen if the tolerance is too small.
e_nextAfter	Next after. Note Can happen if the length moved is too much bigger than the tolerance.
e_maxToiIters	Max TOI iterations.
e_belowMinTarget	Below minimum target.
e_maxDistIters	Max distance iterations. Indicates that the maximum number of distance iterations was done. Note Can happen if the configured max number of distance iterations was too low.

Friends And Related Function Documentation

GetToiViaSat()

TOIOutput GetToiViaSat ( const DistanceProxy &  proxyA, const Sweep &  sweepA, const DistanceProxy &  proxyB, const Sweep &  sweepB, ToiConf  conf = GetDefaultToiConf()  )

related

Gets the time of impact for two disjoint convex sets using the Separating Axis Theorem.

Computes the upper bound on time before two shapes penetrate too much. Time is represented as a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate, non-tunneling collision. If you change the time interval, you should call this function again.

See also

https://en.wikipedia.org/wiki/Hyperplane_separation_theorem

Precondition

The given sweeps are both at the same alpha-0.

Warning

Behavior is undefined if sweeps are not at the same alpha-0.

Behavior is undefined if the configuration's tMax is not between 0 and 1 inclusive.

Note

Uses Distance to compute the contact point and normal at the time of impact.

This only works for two disjoint convex sets.

Parameters

proxyA	Proxy A. The proxy's vertex count must be 1 or more.
sweepA	Sweep A. Sweep of motion for shape represented by proxy A.
proxyB	Proxy B. The proxy's vertex count must be 1 or more.
sweepB	Sweep B. Sweep of motion for shape represented by proxy B.
conf	Configuration details for on calculation. Like the targeted depth of penetration.

Returns

Time of impact output data.

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

• TimeOfImpact.hpp