Module org.dyn4j

Package org.dyn4j.collision.continuous

Interface TimeOfImpactDetector

All Known Implementing Classes:

ConservativeAdvancement

public interface TimeOfImpactDetector

Interface representing a time of impact algorithm.

Sometimes called Continuous Collision Detection, implementing classes are used to detect collisions between Convex Shapes given their initial and final state of a time step. This information can then be used to solve a collision that was missed during that period.

These algorithms are generally very computationally expensive.

Since:

1.2.0

Version:

3.1.5

Author:

William Bittle

Method Summary

Modifier and Type	Method	Description
boolean	getTimeOfImpact(Convex convex1, Transform transform1, Vector2 dp1, double da1, Convex convex2, Transform transform2, Vector2 dp2, double da2, double t1, double t2, TimeOfImpact toi)	Detects whether the given Convex Shapes collide given their current positions and orientation and the rate of change their position and orientation in the time range of [t1, t2] and returning the time of impact within an epsilon.
boolean	getTimeOfImpact(Convex convex1, Transform transform1, Vector2 dp1, double da1, Convex convex2, Transform transform2, Vector2 dp2, double da2, TimeOfImpact toi)	Detects whether the given Convex Shapes collide given their current positions and orientation and the rate of change their position and orientation, returning the time of impact within an epsilon.

Method Detail

getTimeOfImpact

boolean getTimeOfImpact(Convex convex1,
                        Transform transform1,
                        Vector2 dp1,
                        double da1,
                        Convex convex2,
                        Transform transform2,
                        Vector2 dp2,
                        double da2,
                        TimeOfImpact toi)

Detects whether the given Convex Shapes collide given their current positions and orientation and the rate of change their position and orientation, returning the time of impact within an epsilon.

If a collision is detected, the toi parameter will be filled with the time of impact and the separation at the time of impact.

If a time of impact is detected, the time will be in the range [0, 1]. This can be used, along with the change and position and orientation, to place to the shapes at the time of impact. Note that the shapes will still be separated, by a small amount, at the time of impact.

This method returns false if the shape do not collide.

Parameters:

convex1 - the first convex shape

transform1 - the first convex shape's transform

dp1 - the change in position of the first shape

da1 - the change in orientation of the first shape

convex2 - the second convex shape

transform2 - the second convex shape's transform

dp2 - the change in position of the second shape

da2 - the change in orientation of the second shape

toi - the TimeOfImpact object to be filled in the case of a collision

Returns:

boolean true if a collision was detected

Since:

3.1.5

getTimeOfImpact

boolean getTimeOfImpact(Convex convex1,
                        Transform transform1,
                        Vector2 dp1,
                        double da1,
                        Convex convex2,
                        Transform transform2,
                        Vector2 dp2,
                        double da2,
                        double t1,
                        double t2,
                        TimeOfImpact toi)

Detects whether the given Convex Shapes collide given their current positions and orientation and the rate of change their position and orientation in the time range of [t1, t2] and returning the time of impact within an epsilon.

If a collision is detected, the toi parameter will be filled with the time of impact and the separation at the time of impact.

If a time of impact is detected, the time will be in the range [0, 1]. This can be used, along with the change and position and orientation, to place to the shapes at the time of impact. Note that the shapes will still be separated, by a small amount, at the time of impact.

This method returns false if the shape do not collide.

Parameters:

convex1 - the first convex shape

transform1 - the first convex shape's transform

dp1 - the change in position of the first shape

da1 - the change in orientation of the first shape

convex2 - the second convex shape

transform2 - the second convex shape's transform

dp2 - the change in position of the second shape

da2 - the change in orientation of the second shape

toi - the TimeOfImpact object to be filled in the case of a collision

t1 - the lower time bound

t2 - the upper time bound

Returns:

boolean true if a collision was detected

Since:

3.1.5