18 #ifndef BT_VORONOI_SIMPLEX_SOLVER_H    19 #define BT_VORONOI_SIMPLEX_SOLVER_H    25 #define VORONOI_SIMPLEX_MAX_VERTS 5    28 #define BT_USE_EQUAL_VERTEX_THRESHOLD    30 #ifdef BT_USE_DOUBLE_PRECISION    31 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 1e-12f    33 #define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f    34 #endif//BT_USE_DOUBLE_PRECISION    73                 setBarycentricCoordinates();
    74                 m_usedVertices.
reset();
    78                 bool valid = (m_barycentricCoords[0] >= 
btScalar(0.)) &&
    79                         (m_barycentricCoords[1] >= 
btScalar(0.)) &&
    80                         (m_barycentricCoords[2] >= 
btScalar(0.)) &&
    81                         (m_barycentricCoords[3] >= 
btScalar(0.));
    88                 m_barycentricCoords[0] = a;
    89                 m_barycentricCoords[1] = b;
    90                 m_barycentricCoords[2] = c;
    91                 m_barycentricCoords[3] = d;
    98 #ifdef NO_VIRTUAL_INTERFACE   129         void    removeVertex(
int index);
   131         bool    updateClosestVectorAndPoints();
   149                  m_equalVertexThreshold = threshold;
   154                  return m_equalVertexThreshold;
   163                  return (m_numVertices == 4);
   172          bool emptySimplex() 
const ;
   178                  return m_numVertices;
   184 #endif //BT_VORONOI_SIMPLEX_SOLVER_H unsigned short usedVertexA
btVector3 m_closestPointOnSimplex
unsigned short usedVertexD
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD
unsigned short usedVertexB
btScalar m_equalVertexThreshold
bool m_cachedValidClosest
#define btSimplexSolverInterface
btVoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points...
void setEqualVertexThreshold(btScalar threshold)
void setBarycentricCoordinates(btScalar a=btScalar(0.), btScalar b=btScalar(0.), btScalar c=btScalar(0.), btScalar d=btScalar(0.))
btVector3 can be used to represent 3D points and vectors. 
#define ATTRIBUTE_ALIGNED16(a)
btSubSimplexClosestResult m_cachedBC
#define BT_DECLARE_ALIGNED_ALLOCATOR()
unsigned short usedVertexC
btUsageBitfield m_usedVertices
#define VORONOI_SIMPLEX_MAX_VERTS
btScalar getEqualVertexThreshold() const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...