#include <btVoronoiSimplexSolver.h>

Public Member Functions
void	addVertex (const btVector3 &w, const btVector3 &p, const btVector3 &q)
void	backup_closest (btVector3 &v)
	btVoronoiSimplexSolver ()
bool	closest (btVector3 &v)
bool	closestPtPointTetrahedron (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btSubSimplexClosestResult &finalResult)
bool	closestPtPointTriangle (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, btSubSimplexClosestResult &result)
void	compute_points (btVector3 &p1, btVector3 &p2)
bool	emptySimplex () const
bool	fullSimplex () const
btScalar	getEqualVertexThreshold () const
int	getSimplex (btVector3 pBuf, btVector3 qBuf, btVector3 *yBuf) const
bool	inSimplex (const btVector3 &w)
btScalar	maxVertex ()
int	numVertices () const
int	pointOutsideOfPlane (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d)
void	reduceVertices (const btUsageBitfield &usedVerts)
void	removeVertex (int index)
void	reset ()
void	setEqualVertexThreshold (btScalar threshold)
bool	updateClosestVectorAndPoints ()
Public Attributes
btSubSimplexClosestResult	m_cachedBC
btVector3	m_cachedP1
btVector3	m_cachedP2
btVector3	m_cachedV
bool	m_cachedValidClosest
btScalar	m_equalVertexThreshold
btVector3	m_lastW
bool	m_needsUpdate
int	m_numVertices
btVector3	m_simplexPointsP [VORONOI_SIMPLEX_MAX_VERTS]
btVector3	m_simplexPointsQ [VORONOI_SIMPLEX_MAX_VERTS]
btVector3	m_simplexVectorW [VORONOI_SIMPLEX_MAX_VERTS]

Detailed Description

btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. Can be used with GJK, as an alternative to Johnson distance algorithm.

Definition at line 95 of file btVoronoiSimplexSolver.h.

Constructor & Destructor Documentation

btVoronoiSimplexSolver::btVoronoiSimplexSolver ( ) [inline]

Definition at line 133 of file btVoronoiSimplexSolver.h.

Member Function Documentation

void btVoronoiSimplexSolver::addVertex	(	const btVector3 &	w,
		const btVector3 &	p,
		const btVector3 &	q
	)

void btVoronoiSimplexSolver::backup_closest ( btVector3 & v )

bool btVoronoiSimplexSolver::closest ( btVector3 & v )

bool btVoronoiSimplexSolver::closestPtPointTetrahedron	(	const btVector3 &	p,
		const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		const btVector3 &	d,
		btSubSimplexClosestResult &	finalResult
	)

bool btVoronoiSimplexSolver::closestPtPointTriangle	(	const btVector3 &	p,
		const btVector3 &	a,
		const btVector3 &	b,
		const btVector3 &	c,
		btSubSimplexClosestResult &	result
	)