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btVoronoiSimplexSolver Class Reference

#include <btVoronoiSimplexSolver.h>

List of all members.


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 90 of file btVoronoiSimplexSolver.h.


Public Member Functions

void addVertex (const btVector3 &w, const btPoint3 &p, const btPoint3 &q)
void backup_closest (btVector3 &v)
bool closest (btVector3 &v)
bool closestPtPointTetrahedron (const btPoint3 &p, const btPoint3 &a, const btPoint3 &b, const btPoint3 &c, const btPoint3 &d, btSubSimplexClosestResult &finalResult)
bool closestPtPointTriangle (const btPoint3 &p, const btPoint3 &a, const btPoint3 &b, const btPoint3 &c, btSubSimplexClosestResult &result)
void compute_points (btPoint3 &p1, btPoint3 &p2)
bool emptySimplex () const
bool fullSimplex () const
int getSimplex (btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const
bool inSimplex (const btVector3 &w)
btScalar maxVertex ()
int numVertices () const
int pointOutsideOfPlane (const btPoint3 &p, const btPoint3 &a, const btPoint3 &b, const btPoint3 &c, const btPoint3 &d)
 Test if point p and d lie on opposite sides of plane through abc.
void reduceVertices (const btUsageBitfield &usedVerts)
void removeVertex (int index)
void reset ()
bool updateClosestVectorAndPoints ()

Public Attributes

btSubSimplexClosestResult m_cachedBC
btPoint3 m_cachedP1
btPoint3 m_cachedP2
btVector3 m_cachedV
bool m_cachedValidClosest
btVector3 m_lastW
bool m_needsUpdate
int m_numVertices
btPoint3 m_simplexPointsP [VORONOI_SIMPLEX_MAX_VERTS]
btPoint3 m_simplexPointsQ [VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_simplexVectorW [VORONOI_SIMPLEX_MAX_VERTS]

The documentation for this class was generated from the following files:

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