btVoronoiSimplexSolver Class Reference

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:

[legend]

List of all members.

Public Member Functions
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.
bool	closestPtPointTriangle (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, btSubSimplexClosestResult &result)
void	reset ()
void	addVertex (const btVector3 &w, const btVector3 &p, const btVector3 &q)
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
Public Attributes
int	m_numVertices
btVector3	m_simplexVectorW [5]
btVector3	m_simplexPointsP [5]
btVector3	m_simplexPointsQ [5]
btVector3	m_cachedP1
btVector3	m_cachedP2
btVector3	m_cachedV
btVector3	m_lastW
bool	m_cachedValidClosest
btSubSimplexClosestResult	m_cachedBC
bool	m_needsUpdate

---

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.

---

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 303 of file btVoronoiSimplexSolver.cpp.

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 453 of file btVoronoiSimplexSolver.cpp.

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

Definition at line 326 of file btVoronoiSimplexSolver.cpp.

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

Definition at line 315 of file btVoronoiSimplexSolver.cpp.

bool btVoronoiSimplexSolver::emptySimplex

(

)

const

Definition at line 309 of file btVoronoiSimplexSolver.cpp.

bool btVoronoiSimplexSolver::fullSimplex

(

)

const [inline]

Definition at line 134 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 149 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 426 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.

bool btVoronoiSimplexSolver::updateClosestVectorAndPoints

(

)

Definition at line 90 of file btVoronoiSimplexSolver.cpp.

---

Member Data Documentation

btSubSimplexClosestResult btVoronoiSimplexSolver::m_cachedBC

Definition at line 111 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedP1

Definition at line 105 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedP2

Definition at line 106 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_cachedV

Definition at line 107 of file btVoronoiSimplexSolver.h.

bool btVoronoiSimplexSolver::m_cachedValidClosest

Definition at line 109 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_lastW

Definition at line 108 of file btVoronoiSimplexSolver.h.

bool btVoronoiSimplexSolver::m_needsUpdate

Definition at line 113 of file btVoronoiSimplexSolver.h.

int btVoronoiSimplexSolver::m_numVertices

Definition at line 97 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_simplexPointsP[5]

Definition at line 100 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_simplexPointsQ[5]

Definition at line 101 of file btVoronoiSimplexSolver.h.

btVector3 btVoronoiSimplexSolver::m_simplexVectorW[5]

Definition at line 99 of file btVoronoiSimplexSolver.h.

---

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

• btVoronoiSimplexSolver.h
• btVoronoiSimplexSolver.cpp