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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 95 of file btVoronoiSimplexSolver.h.
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Definition at line 135 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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Definition at line 157 of file btVoronoiSimplexSolver.h.
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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.
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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 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 143 of file btVoronoiSimplexSolver.h.
| bool btVoronoiSimplexSolver::updateClosestVectorAndPoints | ( | ) |
Definition at line 90 of file btVoronoiSimplexSolver.cpp.
| 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.
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