btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. More...
#include <btVoronoiSimplexSolver.h>
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.
btVoronoiSimplexSolver::btVoronoiSimplexSolver | ( | ) | [inline] |
Definition at line 135 of file btVoronoiSimplexSolver.h.
void btVoronoiSimplexSolver::addVertex | ( | const btVector3 & | w, | |
const btVector3 & | p, | |||
const btVector3 & | q | |||
) |
Definition at line 78 of file btVoronoiSimplexSolver.cpp.
void btVoronoiSimplexSolver::backup_closest | ( | btVector3 & | v | ) |
Definition at line 307 of file btVoronoiSimplexSolver.cpp.
btVoronoiSimplexSolver::BT_DECLARE_ALIGNED_ALLOCATOR | ( | ) |
bool btVoronoiSimplexSolver::closest | ( | btVector3 & | v | ) |
Definition at line 243 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::closestPtPointTetrahedron | ( | const btVector3 & | p, | |
const btVector3 & | a, | |||
const btVector3 & | b, | |||
const btVector3 & | c, | |||
const btVector3 & | d, | |||
btSubSimplexClosestResult & | finalResult | |||
) |
Definition at line 457 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::closestPtPointTriangle | ( | const btVector3 & | p, | |
const btVector3 & | a, | |||
const btVector3 & | b, | |||
const btVector3 & | c, | |||
btSubSimplexClosestResult & | result | |||
) |
Definition at line 330 of file btVoronoiSimplexSolver.cpp.
Definition at line 319 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::emptySimplex | ( | ) | const |
Definition at line 313 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::fullSimplex | ( | ) | const [inline] |
Definition at line 157 of file btVoronoiSimplexSolver.h.
btScalar btVoronoiSimplexSolver::getEqualVertexThreshold | ( | ) | const [inline] |
Definition at line 148 of file btVoronoiSimplexSolver.h.
int btVoronoiSimplexSolver::getSimplex | ( | btVector3 * | pBuf, | |
btVector3 * | qBuf, | |||
btVector3 * | yBuf | |||
) | const |
Definition at line 268 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::inSimplex | ( | const btVector3 & | w | ) |
Definition at line 283 of file btVoronoiSimplexSolver.cpp.
btScalar btVoronoiSimplexSolver::maxVertex | ( | ) |
Definition at line 252 of file btVoronoiSimplexSolver.cpp.
int btVoronoiSimplexSolver::numVertices | ( | ) | const [inline] |
Definition at line 172 of file btVoronoiSimplexSolver.h.
int btVoronoiSimplexSolver::pointOutsideOfPlane | ( | const btVector3 & | p, | |
const btVector3 & | a, | |||
const btVector3 & | b, | |||
const btVector3 & | c, | |||
const btVector3 & | d | |||
) |
Test if point p and d lie on opposite sides of plane through abc.
Definition at line 430 of file btVoronoiSimplexSolver.cpp.
void btVoronoiSimplexSolver::reduceVertices | ( | const btUsageBitfield & | usedVerts | ) |
Definition at line 45 of file btVoronoiSimplexSolver.cpp.
void btVoronoiSimplexSolver::removeVertex | ( | int | index | ) |
Definition at line 35 of file btVoronoiSimplexSolver.cpp.
void btVoronoiSimplexSolver::reset | ( | ) |
Definition at line 66 of file btVoronoiSimplexSolver.cpp.
void btVoronoiSimplexSolver::setEqualVertexThreshold | ( | btScalar | threshold | ) | [inline] |
Definition at line 143 of file btVoronoiSimplexSolver.h.
bool btVoronoiSimplexSolver::updateClosestVectorAndPoints | ( | ) |
Definition at line 90 of file btVoronoiSimplexSolver.cpp.
Definition at line 121 of file btVoronoiSimplexSolver.h.
Definition at line 112 of file btVoronoiSimplexSolver.h.
Definition at line 113 of file btVoronoiSimplexSolver.h.
Definition at line 114 of file btVoronoiSimplexSolver.h.
Definition at line 118 of file btVoronoiSimplexSolver.h.
Definition at line 117 of file btVoronoiSimplexSolver.h.
Definition at line 115 of file btVoronoiSimplexSolver.h.
Definition at line 123 of file btVoronoiSimplexSolver.h.
Definition at line 104 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 107 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 108 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 106 of file btVoronoiSimplexSolver.h.