btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. More...

#include <btVoronoiSimplexSolver.h>

Collaboration diagram for btVoronoiSimplexSolver:

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Public Member Functions
	BT_DECLARE_ALIGNED_ALLOCATOR ()

void	removeVertex (int index)

void	reduceVertices (const btUsageBitfield &usedVerts)

bool	updateClosestVectorAndPoints ()

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

int	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. More...

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

	btVoronoiSimplexSolver ()

void	reset ()

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

void	setEqualVertexThreshold (btScalar threshold)

btScalar	getEqualVertexThreshold () const

bool	closest (btVector3 &v)

btScalar	maxVertex ()

bool	fullSimplex () const

int	getSimplex (btVector3 pBuf, btVector3 qBuf, btVector3 *yBuf) const

bool	inSimplex (const btVector3 &w)

void	backup_closest (btVector3 &v)

bool	emptySimplex () const

void	compute_points (btVector3 &p1, btVector3 &p2)

int	numVertices () const

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 135 of file btVoronoiSimplexSolver.h.

Member Function Documentation

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.

void btVoronoiSimplexSolver::compute_points	(	btVector3 &	p1,
		btVector3 &	p2
	)

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.

Member Data Documentation

btSubSimplexClosestResult btVoronoiSimplexSolver::m_cachedBC

Definition at line 121 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedP1

Definition at line 112 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedP2

Definition at line 113 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedV

Definition at line 114 of file btVoronoiSimplexSolver.h.

bool btVoronoiSimplexSolver::m_cachedValidClosest

Definition at line 118 of file btVoronoiSimplexSolver.h.

btScalar btVoronoiSimplexSolver::m_equalVertexThreshold

Definition at line 117 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_lastW

Definition at line 115 of file btVoronoiSimplexSolver.h.

bool btVoronoiSimplexSolver::m_needsUpdate

Definition at line 123 of file btVoronoiSimplexSolver.h.

int btVoronoiSimplexSolver::m_numVertices

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.

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

Public Attributes
int	m_numVertices

btVector3	m_simplexVectorW [VORONOI_SIMPLEX_MAX_VERTS]

btVector3	m_simplexPointsP [VORONOI_SIMPLEX_MAX_VERTS]

btVector3	m_simplexPointsQ [VORONOI_SIMPLEX_MAX_VERTS]

btVector3	m_cachedP1

btVector3	m_cachedP2

btVector3	m_cachedV

btVector3	m_lastW

btScalar	m_equalVertexThreshold

bool	m_cachedValidClosest

btSubSimplexClosestResult	m_cachedBC

bool	m_needsUpdate

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation