Blender: btVoronoiSimplexSolver Class Reference

Blender V2.61 - r43446

#include <btVoronoiSimplexSolver.h>

List of all members.

Public Member Functions
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.
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 95 of file btVoronoiSimplexSolver.h.

Constructor & Destructor Documentation

btVoronoiSimplexSolver::btVoronoiSimplexSolver ( ) [inline]

Definition at line 133 of file btVoronoiSimplexSolver.h.

Member Function Documentation

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

Definition at line 78 of file btVoronoiSimplexSolver.cpp.

References m_lastW, m_needsUpdate, m_numVertices, m_simplexPointsP, m_simplexPointsQ, m_simplexVectorW, p, and simple_enum_gen::w.

void btVoronoiSimplexSolver::backup_closest ( btVector3 & v )

Definition at line 307 of file btVoronoiSimplexSolver.cpp.

References m_cachedV.

bool btVoronoiSimplexSolver::closest ( btVector3 & v )

Definition at line 243 of file btVoronoiSimplexSolver.cpp.

References m_cachedV, and updateClosestVectorAndPoints().

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

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

Definition at line 330 of file btVoronoiSimplexSolver.cpp.

References btSubSimplexClosestResult::m_closestPointOnSimplex, btSubSimplexClosestResult::m_usedVertices, btUsageBitfield::reset(), btSubSimplexClosestResult::setBarycentricCoordinates(), btUsageBitfield::usedVertexA, btUsageBitfield::usedVertexB, btUsageBitfield::usedVertexC, and simple_enum_gen::w.

Referenced by closestPtPointTetrahedron(), and updateClosestVectorAndPoints().

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

Definition at line 319 of file btVoronoiSimplexSolver.cpp.

References m_cachedP1, m_cachedP2, and updateClosestVectorAndPoints().

bool btVoronoiSimplexSolver::emptySimplex ( ) const

Definition at line 313 of file btVoronoiSimplexSolver.cpp.

References numVertices().

bool btVoronoiSimplexSolver::fullSimplex ( ) const [inline]

Definition at line 155 of file btVoronoiSimplexSolver.h.

References m_numVertices.

btScalar btVoronoiSimplexSolver::getEqualVertexThreshold ( ) const [inline]

Definition at line 146 of file btVoronoiSimplexSolver.h.

References m_equalVertexThreshold.

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

Definition at line 268 of file btVoronoiSimplexSolver.cpp.

References i, m_simplexPointsP, m_simplexPointsQ, m_simplexVectorW, and numVertices().

bool btVoronoiSimplexSolver::inSimplex ( const btVector3 & w )

Definition at line 283 of file btVoronoiSimplexSolver.cpp.

References i, m_equalVertexThreshold, m_lastW, m_simplexVectorW, and numVertices().

btScalar btVoronoiSimplexSolver::maxVertex ( )

Definition at line 252 of file btVoronoiSimplexSolver.cpp.

References i, m_simplexVectorW, and numVertices().

int btVoronoiSimplexSolver::numVertices ( ) const [inline]

Definition at line 170 of file btVoronoiSimplexSolver.h.

References m_numVertices.

Referenced by emptySimplex(), getSimplex(), inSimplex(), maxVertex(), reduceVertices(), and updateClosestVectorAndPoints().

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 430 of file btVoronoiSimplexSolver.cpp.

References cross(), dot(), and credits_svn_gen::e.

Referenced by closestPtPointTetrahedron().

void btVoronoiSimplexSolver::reduceVertices ( const btUsageBitfield & usedVerts )

Definition at line 45 of file btVoronoiSimplexSolver.cpp.

References numVertices(), removeVertex(), btUsageBitfield::usedVertexA, btUsageBitfield::usedVertexB, btUsageBitfield::usedVertexC, and btUsageBitfield::usedVertexD.

Referenced by updateClosestVectorAndPoints().

void btVoronoiSimplexSolver::removeVertex ( int index )

Definition at line 35 of file btVoronoiSimplexSolver.cpp.

References btAssert, m_numVertices, m_simplexPointsP, m_simplexPointsQ, and m_simplexVectorW.

Referenced by reduceVertices().

void btVoronoiSimplexSolver::reset ( )

Definition at line 66 of file btVoronoiSimplexSolver.cpp.

References BT_LARGE_FLOAT, m_cachedBC, m_cachedValidClosest, m_lastW, m_needsUpdate, m_numVertices, and btSubSimplexClosestResult::reset().

void btVoronoiSimplexSolver::setEqualVertexThreshold ( btScalar threshold ) [inline]

Definition at line 141 of file btVoronoiSimplexSolver.h.

References m_equalVertexThreshold.

bool btVoronoiSimplexSolver::updateClosestVectorAndPoints ( )

Member Data Documentation

btSubSimplexClosestResult btVoronoiSimplexSolver::m_cachedBC

Definition at line 119 of file btVoronoiSimplexSolver.h.

Referenced by reset(), and updateClosestVectorAndPoints().

btVector3 btVoronoiSimplexSolver::m_cachedP1

Definition at line 110 of file btVoronoiSimplexSolver.h.

Referenced by compute_points(), and updateClosestVectorAndPoints().

btVector3 btVoronoiSimplexSolver::m_cachedP2

Definition at line 111 of file btVoronoiSimplexSolver.h.

Referenced by compute_points(), and updateClosestVectorAndPoints().

btVector3 btVoronoiSimplexSolver::m_cachedV

Definition at line 112 of file btVoronoiSimplexSolver.h.

Referenced by backup_closest(), closest(), and updateClosestVectorAndPoints().

bool btVoronoiSimplexSolver::m_cachedValidClosest

Definition at line 116 of file btVoronoiSimplexSolver.h.

Referenced by reset(), and updateClosestVectorAndPoints().

btScalar btVoronoiSimplexSolver::m_equalVertexThreshold

Definition at line 115 of file btVoronoiSimplexSolver.h.

Referenced by getEqualVertexThreshold(), inSimplex(), and setEqualVertexThreshold().

btVector3 btVoronoiSimplexSolver::m_lastW

Definition at line 113 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), inSimplex(), and reset().

bool btVoronoiSimplexSolver::m_needsUpdate

Definition at line 121 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), reset(), and updateClosestVectorAndPoints().

int btVoronoiSimplexSolver::m_numVertices

Definition at line 102 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), fullSimplex(), numVertices(), removeVertex(), and reset().

btVector3 btVoronoiSimplexSolver::m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 105 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), removeVertex(), and updateClosestVectorAndPoints().

btVector3 btVoronoiSimplexSolver::m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 106 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), removeVertex(), and updateClosestVectorAndPoints().

btVector3 btVoronoiSimplexSolver::m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 104 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), inSimplex(), maxVertex(), removeVertex(), and updateClosestVectorAndPoints().

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