vector<double> BayesactClient::get_response_epa() {
vector<double> epa(3);
epa[0] = response_.evaluation();
epa[1] = response_.potency();
epa[2] = response_.activity();
return epa;
}
//Look at the GJK_EPA.h header file for documentation and instructions
bool SteerLib::GJK_EPA::intersect(float& return_penetration_depth, Util::Vector& return_penetration_vector, const std::vector<Util::Vector>& _shapeA, const std::vector<Util::Vector>& _shapeB)
{
std::vector<Util::Vector> simplex;
bool isColliding = GJK(_shapeA, _shapeB, simplex);
if (isColliding) {
epa(_shapeA, _shapeB, simplex, return_penetration_depth, return_penetration_vector);
}
return isColliding;
}
//Look at the GJK_EPA.h header file for documentation and instructions
bool SteerLib::GJK_EPA::intersect(float& return_penetration_depth, Util::Vector& return_penetration_vector, const std::vector<Util::Vector>& _shapeA, const std::vector<Util::Vector>& _shapeB)
{
std::vector<Util::Vector> simplex;
bool collision = gjk(_shapeA, _shapeB, simplex);
if(collision)
epa(return_penetration_depth, return_penetration_vector,simplex,_shapeA, _shapeB);
/*else{
return_penetration_depth = 0;
return_penetration_vector.zero();
}*/
return collision;
}
SimdScalar EpaPenetrationDepthSolver::EpaPenDepth( SimplexSolverInterface& simplexSolver,
ConvexShape* pConvexA, ConvexShape* pConvexB,
const SimdTransform& transformA, const SimdTransform& transformB,
SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB )
{
Epa epa( pConvexA, pConvexB, transformA, transformB );
if ( !epa.Initialize( simplexSolver ) )
{
assert( false && "Epa failed to initialize!" );
return 0;
}
return epa.CalcPenDepth( wWitnessOnA, wWitnessOnB );
}
