Blender  V3.3
btSimplexSolverInterface.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
17 #define BT_SIMPLEX_SOLVER_INTERFACE_H
18 
19 #include "LinearMath/btVector3.h"
20 
21 #define NO_VIRTUAL_INTERFACE 1
22 #ifdef NO_VIRTUAL_INTERFACE
23 #include "btVoronoiSimplexSolver.h"
24 #define btSimplexSolverInterface btVoronoiSimplexSolver
25 #else
26 
31 {
32 public:
33  virtual ~btSimplexSolverInterface(){};
34 
35  virtual void reset() = 0;
36 
37  virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
38 
39  virtual bool closest(btVector3& v) = 0;
40 
41  virtual btScalar maxVertex() = 0;
42 
43  virtual bool fullSimplex() const = 0;
44 
45  virtual int getSimplex(btVector3* pBuf, btVector3* qBuf, btVector3* yBuf) const = 0;
46 
47  virtual bool inSimplex(const btVector3& w) = 0;
48 
49  virtual void backup_closest(btVector3& v) = 0;
50 
51  virtual bool emptySimplex() const = 0;
52 
53  virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
54 
55  virtual int numVertices() const = 0;
56 };
57 #endif
58 #endif //BT_SIMPLEX_SOLVER_INTERFACE_H
ATTR_WARN_UNUSED_RESULT const BMVert * v
SIMD_FORCE_INLINE const btScalar & w() const
Return the w value.
Definition: btQuadWord.h:119
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
int numVertices() const
#define btSimplexSolverInterface
void addVertex(const btVector3 &pt)
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
bool inSimplex(const btVector3 &w)
bool emptySimplex() const
void compute_points(btVector3 &p1, btVector3 &p2)
bool fullSimplex() const
bool closest(btVector3 &v)
void backup_closest(btVector3 &v)
btScalar maxVertex()
ccl_gpu_kernel_postfix ccl_global float int int int int float bool reset
clear internal cached data and reset random seed