18#ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
19#define BT_SIMPLEX_SOLVER_INTERFACE_H
23#define NO_VIRTUAL_INTERFACE 1
24#ifdef NO_VIRTUAL_INTERFACE
26#define btSimplexSolverInterface btVoronoiSimplexSolver
35 virtual ~btSimplexSolverInterface() {};
37 virtual void reset() = 0;
45 virtual bool fullSimplex()
const = 0;
49 virtual bool inSimplex(
const btVector3& w) = 0;
51 virtual void backup_closest(
btVector3& v) = 0;
53 virtual bool emptySimplex()
const = 0;
57 virtual int numVertices()
const =0;
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define btSimplexSolverInterface
btVector3 can be used to represent 3D points and vectors.