Output data for time of impact. More...

#include <TimeOfImpact.hpp>

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. More...

	TOIOutput (Real t, Statistics s, State z) noexcept
	Initializing constructor. More...

Public Attributes
Real	time = 0
	Time factor in range of [0,1] into the future. More...

Statistics	stats
	Statistics. More...

State	state = e_unknown
	State at time factor. More...

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.

Definition at line 156 of file TimeOfImpact.hpp.

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.
e_targetDepthExceedsTotalRadius
e_minTargetSquaredOverflow
e_maxTargetSquaredOverflow
e_notFinite

Definition at line 191 of file TimeOfImpact.hpp.

Constructor & Destructor Documentation

◆ TOIOutput() [1/2]

playrho::TOIOutput::TOIOutput ( )

default

Default constructor.

◆ TOIOutput() [2/2]

playrho::TOIOutput::TOIOutput	(	Real	t,
		Statistics	s,
		State	z
	)

inlinenoexcept

Initializing constructor.

Definition at line 254 of file TimeOfImpact.hpp.

Friends And Related Function Documentation

◆ GetToiViaSat()

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

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.

Member Data Documentation

◆ time

Real playrho::TOIOutput::time = 0

Time factor in range of [0,1] into the future.

Definition at line 256 of file TimeOfImpact.hpp.

◆ stats

Statistics playrho::TOIOutput::stats

Statistics.

Definition at line 257 of file TimeOfImpact.hpp.

◆ state

State playrho::TOIOutput::state = e_unknown

State at time factor.

Definition at line 258 of file TimeOfImpact.hpp.

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

Collision/TimeOfImpact.hpp

Classes

Public Types

Public Member Functions

Public Attributes

Related Functions