Module org.dyn4j

Package org.dyn4j.collision.narrowphase

Class MinkowskiSum

Object

MinkowskiSum

public class MinkowskiSum
extends Object

Represents the Minkowski sum of the given Convex Shapes.

This class is used by the Gjk and Epa classes to compute support points.

This class doesn't actually compute the Minkowski sum.

Since:

1.0.0

Version:

3.2.0

Author:

William Bittle

Constructor Summary

Constructors

Constructor	Description
MinkowskiSum(Convex convex1, Transform transform1, Convex convex2, Transform transform2)	Full constructor.

Method Summary

Modifier and Type	Method	Description
Convex	getConvex1()	Returns the first Convex Shape.
Convex	getConvex2()	Returns the second Convex Shape.
Vector2	getSupportPoint(Vector2 direction)	Returns the farthest point in the Minkowski sum given the direction.
MinkowskiSumPoint	getSupportPoints(Vector2 direction)	Returns the farthest point, and the support points in the shapes, in the Minkowski sum given the direction.
Transform	getTransform1()	Returns the first Convex Shape's Transform.
Transform	getTransform2()	Returns the second Convex Shape's Transform.
String	toString()

Methods inherited from class Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

MinkowskiSum

public MinkowskiSum(Convex convex1,
                    Transform transform1,
                    Convex convex2,
                    Transform transform2)

Full constructor.

Parameters:

convex1 - the first Convex

transform1 - the first Convex's Transform

convex2 - the second Convex

transform2 - the second Convex's Transform

Method Detail

toString

public String toString()

Overrides:

toString in class Object

getSupportPoint

public final Vector2 getSupportPoint(Vector2 direction)

Returns the farthest point in the Minkowski sum given the direction.

Parameters:

direction - the search direction

Returns:

Vector2 the point farthest in the Minkowski sum in the given direction

getSupportPoints

public final MinkowskiSumPoint getSupportPoints(Vector2 direction)

Returns the farthest point, and the support points in the shapes, in the Minkowski sum given the direction.

Parameters:

direction - the search direction

Returns:

MinkowskiSumPoint the point farthest in the Minkowski sum in the given direction

getConvex1

public Convex getConvex1()

Returns the first Convex Shape.

Returns:

Convex

getConvex2

public Convex getConvex2()

Returns the second Convex Shape.

Returns:

Convex

getTransform1

public Transform getTransform1()

Returns the first Convex Shape's Transform.

Returns:

Transform

getTransform2

public Transform getTransform2()

Returns the second Convex Shape's Transform.

Returns:

Transform