Examples of jinngine.collision.GJK.run()

jinngine.collision.GJK.run()

Find the closest pair of points on the convex objects A and B, given by the support mappings Sa and Sb. This method does not take into account the value of {@link SupportMap3.sphereSweepRadius()}. This is so, because the closest points of two sphere swept volumes are trivially known if the closest points of the original shapes are known. @param Sa support mapping of a convex object A @param Sb support mapping of a convex object B @param va on return, va will contain the closest point on A @param vb on return, vb will contain the closest point on B @param envelope the maximum distance that GJK should compute. If the algorithm reaches a state where the true distance between A and B will be greater the given value, it terminates. Setting this value Inf will result in the algorithm computing the distance between A and B in all cases. Setting it to zero will reduce the algorithm to computing a separating axis, because it will terminate as soon as evidence that A and B are non-intersecting is found. @param epsilon error precision, used in termination criterion. In general, a smaller error tolerance results in more iterations before termination. @param maxiter maximum number of iterations before termination is forced.

    
    //closest point vectors
    Vector3 p1 = new Vector3();
    Vector3 p2 = new Vector3();
        
    gjk.run(s1,s2,p1,p2,Double.POSITIVE_INFINITY, epsilon, 31);
    
    double d = p1.sub(p2).norm();
    
    System.out.println( "d="+d);

    
    //closest point vectors
    Vector3 p1 = new Vector3();
    Vector3 p2 = new Vector3();
        
    gjk.run(s1,s2,p1,p2,Double.POSITIVE_INFINITY, epsilon, 31);
    
    double d = p1.sub(p2).norm();
    System.out.println("d="+d);
    
    // distance should be 2a within precision

    
    //closest point vectors
    Vector3 p1 = new Vector3();
    Vector3 p2 = new Vector3();
        
    gjk.run(s1,s2,p1,p2,Double.POSITIVE_INFINITY, epsilon, 31);
    
    // we expect closest points to be the same
    assertTrue( p1.sub(p2).norm() < epsilon );
  }

      GJK gjk = new GJK();
      
      // when the distance between objects becomes close to zero, 
      // the gjk algorithm gegenerates and produces less acurate results.
      // therefore we use more iterations here
      gjk.run(s1,s2,p1,p2,Double.POSITIVE_INFINITY, epsilon, 2256);
      
      // we want the expected distance 
      assertTrue( Math.abs( p1.sub(p2).norm() - expected ) < epsilon );
    }
  }

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