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source: code/branches/pickups2/src/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h @ 3151

Last change on this file since 3151 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 2.1 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17
18#ifndef SIMPLEX_SOLVER_INTERFACE_H
19#define SIMPLEX_SOLVER_INTERFACE_H
20
21#include "LinearMath/btVector3.h"
22
23#define NO_VIRTUAL_INTERFACE 1
24#ifdef NO_VIRTUAL_INTERFACE
25#include "btVoronoiSimplexSolver.h"
26#define btSimplexSolverInterface btVoronoiSimplexSolver
27#else
28
29/// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices
30/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on
31/// voronoi regions or barycentric coordinates
32class btSimplexSolverInterface
33{
34        public:
35                virtual ~btSimplexSolverInterface() {};
36
37        virtual void reset() = 0;
38
39        virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
40       
41        virtual bool closest(btVector3& v) = 0;
42
43        virtual btScalar maxVertex() = 0;
44
45        virtual bool fullSimplex() const = 0;
46
47        virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0;
48
49        virtual bool inSimplex(const btVector3& w) = 0;
50       
51        virtual void backup_closest(btVector3& v) = 0;
52
53        virtual bool emptySimplex() const = 0;
54
55        virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
56
57        virtual int numVertices() const =0;
58
59
60};
61#endif
62#endif //SIMPLEX_SOLVER_INTERFACE_H
63
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