| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | |
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| 18 | #ifndef SIMPLEX_SOLVER_INTERFACE_H |
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| 19 | #define SIMPLEX_SOLVER_INTERFACE_H |
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| 20 | |
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| 21 | #include "LinearMath/btVector3.h" |
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| 22 | #include "LinearMath/btPoint3.h" |
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| 23 | |
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| 24 | #define NO_VIRTUAL_INTERFACE 1 |
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| 25 | #ifdef NO_VIRTUAL_INTERFACE |
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| 26 | #include "btVoronoiSimplexSolver.h" |
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| 27 | #define btSimplexSolverInterface btVoronoiSimplexSolver |
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| 28 | #else |
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| 29 | |
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| 30 | /// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices |
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| 31 | /// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on |
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| 32 | /// voronoi regions or barycentric coordinates |
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| 33 | class btSimplexSolverInterface |
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| 34 | { |
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| 35 | public: |
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| 36 | virtual ~btSimplexSolverInterface() {}; |
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| 37 | |
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| 38 | virtual void reset() = 0; |
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| 39 | |
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| 40 | virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q) = 0; |
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| 41 | |
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| 42 | virtual bool closest(btVector3& v) = 0; |
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| 43 | |
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| 44 | virtual btScalar maxVertex() = 0; |
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| 45 | |
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| 46 | virtual bool fullSimplex() const = 0; |
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| 47 | |
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| 48 | virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const = 0; |
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| 49 | |
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| 50 | virtual bool inSimplex(const btVector3& w) = 0; |
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| 51 | |
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| 52 | virtual void backup_closest(btVector3& v) = 0; |
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| 53 | |
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| 54 | virtual bool emptySimplex() const = 0; |
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| 55 | |
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| 56 | virtual void compute_points(btPoint3& p1, btPoint3& p2) = 0; |
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| 57 | |
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| 58 | virtual int numVertices() const =0; |
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| 59 | |
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| 60 | |
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| 61 | }; |
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| 62 | #endif |
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| 63 | #endif //SIMPLEX_SOLVER_INTERFACE_H |
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| 64 | |
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