16 #ifndef BT_VORONOI_SIMPLEX_SOLVER_H 17 #define BT_VORONOI_SIMPLEX_SOLVER_H 21 #define VORONOI_SIMPLEX_MAX_VERTS 5 24 #define BT_USE_EQUAL_VERTEX_THRESHOLD 26 #ifdef BT_USE_DOUBLE_PRECISION 27 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f 29 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f 30 #endif //BT_USE_DOUBLE_PRECISION 92 #ifdef NO_VIRTUAL_INTERFACE 121 void removeVertex(
int index);
123 bool updateClosestVectorAndPoints();
140 m_equalVertexThreshold = threshold;
145 return m_equalVertexThreshold;
154 return (m_numVertices == 4);
163 bool emptySimplex()
const;
169 return m_numVertices;
173 #endif //BT_VORONOI_SIMPLEX_SOLVER_H unsigned short usedVertexA
btVector3 m_closestPointOnSimplex
unsigned short usedVertexD
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD
unsigned short usedVertexB
btScalar m_equalVertexThreshold
bool m_cachedValidClosest
#define btSimplexSolverInterface
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
void setEqualVertexThreshold(btScalar threshold)
void setBarycentricCoordinates(btScalar a=btScalar(0.), btScalar b=btScalar(0.), btScalar c=btScalar(0.), btScalar d=btScalar(0.))
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
btSubSimplexClosestResult m_cachedBC
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btScalar m_barycentricCoords[4]
unsigned short usedVertexC
btUsageBitfield m_usedVertices
#define VORONOI_SIMPLEX_MAX_VERTS
btScalar getEqualVertexThreshold() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...