Bullet Collision Detection & Physics Library
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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 99 of file btVoronoiSimplexSolver.h.
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Definition at line 139 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 310 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 460 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::closestPtPointTriangle | ( | const btVector3 & | p, |
const btVector3 & | a, | ||
const btVector3 & | b, | ||
const btVector3 & | c, | ||
btSubSimplexClosestResult & | result | ||
) |
Definition at line 333 of file btVoronoiSimplexSolver.cpp.
Definition at line 322 of file btVoronoiSimplexSolver.cpp.
bool btVoronoiSimplexSolver::emptySimplex | ( | ) | const |
Definition at line 316 of file btVoronoiSimplexSolver.cpp.
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inline |
Definition at line 161 of file btVoronoiSimplexSolver.h.
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inline |
Definition at line 152 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.
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inline |
Definition at line 176 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 433 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.
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inline |
Definition at line 147 of file btVoronoiSimplexSolver.h.
bool btVoronoiSimplexSolver::updateClosestVectorAndPoints | ( | ) |
Definition at line 90 of file btVoronoiSimplexSolver.cpp.
btSubSimplexClosestResult btVoronoiSimplexSolver::m_cachedBC |
Definition at line 125 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_cachedP1 |
Definition at line 116 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_cachedP2 |
Definition at line 117 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_cachedV |
Definition at line 118 of file btVoronoiSimplexSolver.h.
bool btVoronoiSimplexSolver::m_cachedValidClosest |
Definition at line 122 of file btVoronoiSimplexSolver.h.
btScalar btVoronoiSimplexSolver::m_equalVertexThreshold |
Definition at line 121 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_lastW |
Definition at line 119 of file btVoronoiSimplexSolver.h.
bool btVoronoiSimplexSolver::m_needsUpdate |
Definition at line 127 of file btVoronoiSimplexSolver.h.
int btVoronoiSimplexSolver::m_numVertices |
Definition at line 108 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 111 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 112 of file btVoronoiSimplexSolver.h.
btVector3 btVoronoiSimplexSolver::m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS] |
Definition at line 110 of file btVoronoiSimplexSolver.h.