16#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
17#define BT_VORONOI_SIMPLEX_SOLVER_H
21#define VORONOI_SIMPLEX_MAX_VERTS 5
24#define BT_USE_EQUAL_VERTEX_THRESHOLD
26#ifdef BT_USE_DOUBLE_PRECISION
27#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
29#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
92#ifdef NO_VIRTUAL_INTERFACE
163 bool emptySimplex()
const;
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
#define btSimplexSolverInterface
#define VORONOI_SIMPLEX_MAX_VERTS
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD
btVector3 can be used to represent 3D points and vectors.
void reduceVertices(const btUsageBitfield &usedVerts)
btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]
btSubSimplexClosestResult m_cachedBC
BT_DECLARE_ALIGNED_ALLOCATOR()
bool closestPtPointTetrahedron(const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btSubSimplexClosestResult &finalResult)
bool m_cachedValidClosest
btScalar getEqualVertexThreshold() const
int pointOutsideOfPlane(const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d)
Test if point p and d lie on opposite sides of plane through abc.
bool updateClosestVectorAndPoints()
bool closestPtPointTriangle(const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, btSubSimplexClosestResult &result)
btScalar m_equalVertexThreshold
void removeVertex(int index)
btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]
void setEqualVertexThreshold(btScalar threshold)
void setBarycentricCoordinates(btScalar a=btScalar(0.), btScalar b=btScalar(0.), btScalar c=btScalar(0.), btScalar d=btScalar(0.))
btUsageBitfield m_usedVertices
btScalar m_barycentricCoords[4]
btVector3 m_closestPointOnSimplex
unsigned short usedVertexC
unsigned short usedVertexB
unsigned short usedVertexA
unsigned short usedVertexD