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:

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

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

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 93 of file btVoronoiSimplexSolver.h.

Constructor & Destructor Documentation

btVoronoiSimplexSolver()

btVoronoiSimplexSolver::btVoronoiSimplexSolver ( )

inline

Definition at line 130 of file btVoronoiSimplexSolver.h.

Member Function Documentation

addVertex()

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

Definition at line 69 of file btVoronoiSimplexSolver.cpp.

backup_closest()

void btVoronoiSimplexSolver::backup_closest

(

btVector3 &

v

)

Definition at line 296 of file btVoronoiSimplexSolver.cpp.

BT_DECLARE_ALIGNED_ALLOCATOR()

btVoronoiSimplexSolver::BT_DECLARE_ALIGNED_ALLOCATOR

(

)

closest()

bool btVoronoiSimplexSolver::closest

(

btVector3 &

v

)

Definition at line 236 of file btVoronoiSimplexSolver.cpp.

closestPtPointTetrahedron()

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

Definition at line 437 of file btVoronoiSimplexSolver.cpp.

closestPtPointTriangle()

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

Definition at line 313 of file btVoronoiSimplexSolver.cpp.

compute_points()

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

Definition at line 306 of file btVoronoiSimplexSolver.cpp.

emptySimplex()

bool btVoronoiSimplexSolver::emptySimplex

(

)

const

Definition at line 301 of file btVoronoiSimplexSolver.cpp.

fullSimplex()

bool btVoronoiSimplexSolver::fullSimplex ( ) const

inline

Definition at line 152 of file btVoronoiSimplexSolver.h.

getEqualVertexThreshold()

btScalar btVoronoiSimplexSolver::getEqualVertexThreshold ( ) const

inline

Definition at line 143 of file btVoronoiSimplexSolver.h.

getSimplex()

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

Definition at line 257 of file btVoronoiSimplexSolver.cpp.

inSimplex()

bool btVoronoiSimplexSolver::inSimplex

(

const btVector3 &

w

)

Definition at line 269 of file btVoronoiSimplexSolver.cpp.

maxVertex()

btScalar btVoronoiSimplexSolver::maxVertex

(

)

Definition at line 243 of file btVoronoiSimplexSolver.cpp.

numVertices()

int btVoronoiSimplexSolver::numVertices ( ) const

inline

Definition at line 167 of file btVoronoiSimplexSolver.h.

pointOutsideOfPlane()

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 411 of file btVoronoiSimplexSolver.cpp.

reduceVertices()

void btVoronoiSimplexSolver::reduceVertices

(

const btUsageBitfield &

usedVerts

)

Definition at line 43 of file btVoronoiSimplexSolver.cpp.

removeVertex()

void btVoronoiSimplexSolver::removeVertex

(

int

index

)

Definition at line 34 of file btVoronoiSimplexSolver.cpp.

reset()

void btVoronoiSimplexSolver::reset

(

)

Definition at line 59 of file btVoronoiSimplexSolver.cpp.

setEqualVertexThreshold()

void btVoronoiSimplexSolver::setEqualVertexThreshold ( btScalar  threshold )

inline

Definition at line 138 of file btVoronoiSimplexSolver.h.

updateClosestVectorAndPoints()

bool btVoronoiSimplexSolver::updateClosestVectorAndPoints

(

)

Definition at line 81 of file btVoronoiSimplexSolver.cpp.

Member Data Documentation

m_cachedBC

btSubSimplexClosestResult btVoronoiSimplexSolver::m_cachedBC

Definition at line 117 of file btVoronoiSimplexSolver.h.

m_cachedP1

btVector3 btVoronoiSimplexSolver::m_cachedP1

Definition at line 109 of file btVoronoiSimplexSolver.h.

m_cachedP2

btVector3 btVoronoiSimplexSolver::m_cachedP2

Definition at line 110 of file btVoronoiSimplexSolver.h.

m_cachedV

btVector3 btVoronoiSimplexSolver::m_cachedV

Definition at line 111 of file btVoronoiSimplexSolver.h.

m_cachedValidClosest

bool btVoronoiSimplexSolver::m_cachedValidClosest

Definition at line 115 of file btVoronoiSimplexSolver.h.

m_equalVertexThreshold

btScalar btVoronoiSimplexSolver::m_equalVertexThreshold

Definition at line 114 of file btVoronoiSimplexSolver.h.

m_lastW

btVector3 btVoronoiSimplexSolver::m_lastW

Definition at line 112 of file btVoronoiSimplexSolver.h.

m_needsUpdate

bool btVoronoiSimplexSolver::m_needsUpdate

Definition at line 119 of file btVoronoiSimplexSolver.h.

m_numVertices

int btVoronoiSimplexSolver::m_numVertices

Definition at line 103 of file btVoronoiSimplexSolver.h.

m_simplexPointsP

btVector3 btVoronoiSimplexSolver::m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 106 of file btVoronoiSimplexSolver.h.

m_simplexPointsQ

btVector3 btVoronoiSimplexSolver::m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 107 of file btVoronoiSimplexSolver.h.

m_simplexVectorW

btVector3 btVoronoiSimplexSolver::m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 105 of file btVoronoiSimplexSolver.h.

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

• btVoronoiSimplexSolver.h
• btVoronoiSimplexSolver.cpp