Object
- ConservativeAdvancement

All Implemented Interfaces:

TimeOfImpactDetector
```
public class ConservativeAdvancement
extends Object
implements TimeOfImpactDetector
```
Implements the Conservative Advancement technique to solve for the time of impact.
This method assumes that translation and rotation are linear and computes the time of impact within a given tolerance.
This method is described in "Continuous Collision Detection and Physics" by Erwin Coumans (Draft).

Since:

1.2.0

Version:

3.1.5

Author:

William Bittle

Field Summary

Fields
Modifier and Type Field Description

static double DEFAULT_DISTANCE_EPSILON
The default distance epsilon

static int DEFAULT_MAX_ITERATIONS
The default maximum number of iterations

Constructor Summary

Constructors
Constructor Description

ConservativeAdvancement()
Default constructor.

ConservativeAdvancement(DistanceDetector distanceDetector)
Optional constructor.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`DistanceDetector`	`getDistanceDetector()`	Returns the `DistanceDetector` that is used.
`double`	`getDistanceEpsilon()`	Returns the distance epsilon used to determine when a sufficient solution has been found.
`int`	`getMaxIterations()`	Returns the maximum number of iterations that will be performed by the root finder.
`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` `Shape`s 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` `Shape`s collide given their current positions and orientation and the rate of change their position and orientation, returning the time of impact within an epsilon.
`void`	`setDistanceDetector(DistanceDetector distanceDetector)`	Sets the `DistanceDetector` to be used.
`void`	`setDistanceEpsilon(double distanceEpsilon)`	Sets the distance epsilon used to determine when a sufficient solution has been found.
`void`	`setMaxIterations(int maxIterations)`	Sets the maximum number of iterations that will be performed by the root finder.

Methods inherited from class Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - DEFAULT_DISTANCE_EPSILON
```
public static final double DEFAULT_DISTANCE_EPSILON
```
    The default distance epsilon
  - DEFAULT_MAX_ITERATIONS
```
public static final int DEFAULT_MAX_ITERATIONS
```
    The default maximum number of iterations
    
    See Also:
    
    Constant Field Values
- Constructor Detail
  - ConservativeAdvancement
```
public ConservativeAdvancement()
```
    Default constructor.
    Uses Gjk as the DistanceDetector.
  - ConservativeAdvancement
```
public ConservativeAdvancement(DistanceDetector distanceDetector)
```
    Optional constructor.
    
    Parameters:
    
    distanceDetector - the distance detector
    
    Throws:
    
    NullPointerException - if distanceDetector is null
- Method Detail
  - getTimeOfImpact
```
public boolean getTimeOfImpact(Convex convex1,
                               Transform transform1,
                               Vector2 dp1,
                               double da1,
                               Convex convex2,
                               Transform transform2,
                               Vector2 dp2,
                               double da2,
                               TimeOfImpact toi)
```
    Description copied from interface: TimeOfImpactDetector
    
    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.
    
    Specified by:
    
    getTimeOfImpact in interface TimeOfImpactDetector
    
    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
  - getTimeOfImpact
```
public boolean getTimeOfImpact(Convex convex1,
                               Transform transform1,
                               Vector2 dp1,
                               double da1,
                               Convex convex2,
                               Transform transform2,
                               Vector2 dp2,
                               double da2,
                               double t1,
                               double t2,
                               TimeOfImpact toi)
```
    Description copied from interface: TimeOfImpactDetector
    
    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.
    
    Specified by:
    
    getTimeOfImpact in interface TimeOfImpactDetector
    
    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
    
    t1 - the lower time bound
    
    t2 - the upper time bound
    
    toi - the TimeOfImpact object to be filled in the case of a collision
    
    Returns:
    
    boolean true if a collision was detected
  - getDistanceDetector
```
public DistanceDetector getDistanceDetector()
```
    Returns the DistanceDetector that is used.
    
    Returns:
    
    DistanceDetector
  - setDistanceDetector
```
public void setDistanceDetector(DistanceDetector distanceDetector)
```
    Sets the DistanceDetector to be used.
    
    Parameters:
    
    distanceDetector - the distance detector
    
    Throws:
    
    NullPointerException - if distanceDetector is null
  - getDistanceEpsilon
```
public double getDistanceEpsilon()
```
    Returns the distance epsilon used to determine when a sufficient solution has been found.
    
    Returns:
    
    double the distance epsilon
  - setDistanceEpsilon
```
public void setDistanceEpsilon(double distanceEpsilon)
```
    Sets the distance epsilon used to determine when a sufficient solution has been found.
    
    Parameters:
    
    distanceEpsilon - the distance epsilon; must be greater than zero
    
    Throws:
    
    IllegalArgumentException - if distanceEpsilon is less than or equal to zero
  - getMaxIterations
```
public int getMaxIterations()
```
    Returns the maximum number of iterations that will be performed by the root finder.
    
    Returns:
    
    the maximum number of iterations the root finder will perform
  - setMaxIterations
```
public void setMaxIterations(int maxIterations)
```
    Sets the maximum number of iterations that will be performed by the root finder.
    Lower values increase performance yet decrease accuracy whereas higher values decrease performance and increase accuracy.
    
    Parameters:
    
    maxIterations - the maximum number of iterations in the range [5, ∞]
    
    Throws:
    
    IllegalArgumentException - if maxIterations is less than 5

Modifier and Type	Field	Description
`static double`	`DEFAULT_DISTANCE_EPSILON`	The default distance epsilon
`static int`	`DEFAULT_MAX_ITERATIONS`	The default maximum number of iterations

Constructor	Description
`ConservativeAdvancement()`	Default constructor.
`ConservativeAdvancement(DistanceDetector distanceDetector)`	Optional constructor.

Class ConservativeAdvancement

Field Summary

Constructor Summary

Method Summary

Methods inherited from class Object

Field Detail

DEFAULT_DISTANCE_EPSILON

DEFAULT_MAX_ITERATIONS

Constructor Detail

ConservativeAdvancement

ConservativeAdvancement

Method Detail

getTimeOfImpact

getTimeOfImpact

getDistanceDetector

setDistanceDetector

getDistanceEpsilon

setDistanceEpsilon

getMaxIterations

setMaxIterations