Bullet Collision Detection & Physics Library
btVoronoiSimplexSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#ifndef BT_VORONOI_SIMPLEX_SOLVER_H
19#define BT_VORONOI_SIMPLEX_SOLVER_H
20
22
23
24
25#define VORONOI_SIMPLEX_MAX_VERTS 5
26
28#define BT_USE_EQUAL_VERTEX_THRESHOLD
29
30#ifdef BT_USE_DOUBLE_PRECISION
31#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f
32#else
33#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f
34#endif//BT_USE_DOUBLE_PRECISION
35
38 {
39 reset();
40 }
41
42 void reset()
43 {
44 usedVertexA = false;
45 usedVertexB = false;
46 usedVertexC = false;
47 usedVertexD = false;
48 }
49 unsigned short usedVertexA : 1;
50 unsigned short usedVertexB : 1;
51 unsigned short usedVertexC : 1;
52 unsigned short usedVertexD : 1;
53 unsigned short unused1 : 1;
54 unsigned short unused2 : 1;
55 unsigned short unused3 : 1;
56 unsigned short unused4 : 1;
57};
58
59
61{
63 //MASK for m_usedVertices
64 //stores the simplex vertex-usage, using the MASK,
65 // if m_usedVertices & MASK then the related vertex is used
69
70 void reset()
71 {
72 m_degenerate = false;
75 }
76 bool isValid()
77 {
78 bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&
79 (m_barycentricCoords[1] >= btScalar(0.)) &&
80 (m_barycentricCoords[2] >= btScalar(0.)) &&
81 (m_barycentricCoords[3] >= btScalar(0.));
82
83
84 return valid;
85 }
87 {
92 }
93
94};
95
98#ifdef NO_VIRTUAL_INTERFACE
100#else
102#endif
103{
104public:
105
107
109
113
114
115
120
123
124
126
128
129 void removeVertex(int index);
130 void reduceVertices (const btUsageBitfield& usedVerts);
131 bool updateClosestVectorAndPoints();
132
133 bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);
134 int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);
135 bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);
136
137public:
138
140 : m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)
141 {
142 }
143 void reset();
144
145 void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);
146
148 {
149 m_equalVertexThreshold = threshold;
150 }
151
153 {
154 return m_equalVertexThreshold;
155 }
156
157 bool closest(btVector3& v);
158
159 btScalar maxVertex();
160
161 bool fullSimplex() const
162 {
163 return (m_numVertices == 4);
164 }
165
166 int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;
167
168 bool inSimplex(const btVector3& w);
169
170 void backup_closest(btVector3& v) ;
171
172 bool emptySimplex() const ;
173
174 void compute_points(btVector3& p1, btVector3& p2) ;
175
176 int numVertices() const
177 {
178 return m_numVertices;
179 }
180
181
182};
183
184#endif //BT_VORONOI_SIMPLEX_SOLVER_H
185
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define btSimplexSolverInterface
#define VORONOI_SIMPLEX_MAX_VERTS
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
btSubSimplexClosestResult m_cachedBC
btScalar getEqualVertexThreshold() const
void setEqualVertexThreshold(btScalar threshold)
void setBarycentricCoordinates(btScalar a=btScalar(0.), btScalar b=btScalar(0.), btScalar c=btScalar(0.), btScalar d=btScalar(0.))
unsigned short usedVertexC
unsigned short usedVertexB
unsigned short unused4
unsigned short usedVertexA
unsigned short unused1
unsigned short unused3
unsigned short unused2
unsigned short usedVertexD