18#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
19#define BT_VORONOI_SIMPLEX_SOLVER_H
25#define VORONOI_SIMPLEX_MAX_VERTS 5
28#define BT_USE_EQUAL_VERTEX_THRESHOLD
30#ifdef BT_USE_DOUBLE_PRECISION
31#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
33#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
98#ifdef NO_VIRTUAL_INTERFACE
129 void removeVertex(
int index);
131 bool updateClosestVectorAndPoints();
149 m_equalVertexThreshold = threshold;
154 return m_equalVertexThreshold;
163 return (m_numVertices == 4);
172 bool emptySimplex()
const ;
178 return m_numVertices;
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.
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btSubSimplexClosestResult m_cachedBC
BT_DECLARE_ALIGNED_ALLOCATOR()
bool m_cachedValidClosest
btScalar getEqualVertexThreshold() const
btScalar m_equalVertexThreshold
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