34 #define CATCH_DEGENERATE_TETRAHEDRON 1   146                                         nearest = from + t*v;
   256         for (i=0;i<numverts;i++)
   290         for (i=0;i<numverts;i++)
   292 #ifdef BT_USE_EQUAL_VERTEX_THRESHOLD   355     if (d3 >= 
btScalar(0.0) && d4 <= d3) 
   379     if (d6 >= 
btScalar(0.0) && d5 <= d6) 
   402         btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
   440 #ifdef CATCH_DEGENERATE_TETRAHEDRON   441 #ifdef BT_USE_DOUBLE_PRECISION   456     return signp * signd < 
btScalar(0.);
   477    if (pointOutsideABC < 0 || pointOutsideACD < 0 || pointOutsideADB < 0 || pointOutsideBDC < 0)
   483    if (!pointOutsideABC  && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
   498         if (sqDist < bestSqDist) {
   525         if (sqDist < bestSqDist) 
   553         if (sqDist < bestSqDist) 
   580         if (sqDist < bestSqDist) 
 unsigned short usedVertexA
btVector3 m_closestPointOnSimplex
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
unsigned short usedVertexD
void reduceVertices(const btUsageBitfield &usedVerts)
unsigned short usedVertexB
bool updateClosestVectorAndPoints()
btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]
btScalar dot(const btVector3 &v) const 
Return the dot product. 
bool inSimplex(const btVector3 &w)
btScalar m_equalVertexThreshold
bool m_cachedValidClosest
void setBarycentricCoordinates(btScalar a=btScalar(0.), btScalar b=btScalar(0.), btScalar c=btScalar(0.), btScalar d=btScalar(0.))
int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const 
void addVertex(const btVector3 &w, const btVector3 &p, const btVector3 &q)
btVector3 can be used to represent 3D points and vectors. 
btScalar length2() const 
Return the length of the vector squared. 
void removeVertex(int index)
bool closestPtPointTriangle(const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, btSubSimplexClosestResult &result)
btSubSimplexClosestResult m_cachedBC
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 emptySimplex() const 
btScalar m_barycentricCoords[4]
unsigned short usedVertexC
void compute_points(btVector3 &p1, btVector3 &p2)
btUsageBitfield m_usedVertices
btScalar dot(const btQuaternion &q1, const btQuaternion &q2)
Calculate the dot product between two quaternions. 
void backup_closest(btVector3 &v)
btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
bool closest(btVector3 &v)
bool closestPtPointTetrahedron(const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btSubSimplexClosestResult &finalResult)