16#ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
17#define BT_SIMPLEX_SOLVER_INTERFACE_H
21#define NO_VIRTUAL_INTERFACE 1
22#ifdef NO_VIRTUAL_INTERFACE
24#define btSimplexSolverInterface btVoronoiSimplexSolver
33 virtual ~btSimplexSolverInterface(){};
35 virtual void reset() = 0;
43 virtual bool fullSimplex()
const = 0;
47 virtual bool inSimplex(
const btVector3& w) = 0;
49 virtual void backup_closest(
btVector3& v) = 0;
51 virtual bool emptySimplex()
const = 0;
55 virtual int numVertices()
const = 0;
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define btSimplexSolverInterface
btVector3 can be used to represent 3D points and vectors.