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btVoronoiSimplexSolver.cpp @ 10111

Last change on this file since 10111 was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

*Support for Mac OS X*
Visual Studio 2010 support
Bullet library update to 2.77
OIS library update to 1.3
Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
Improved install target
Compiles now with GCC 4.6
Ogre Cg Shader plugin activated for Linux if available
And of course lots of bug fixes

There are also some regressions:

No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
In game console is not working in main menu for CEGUI 0.7
Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
And of course lots of new bugs we don't yet know about

Property svn:eol-style set to native

File size: 17.1 KB

Rev	Line
[1963]	1
	2	/*
	3	Bullet Continuous Collision Detection and Physics Library
	4	Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
	5
	6	This software is provided 'as-is', without any express or implied warranty.
	7	In no event will the authors be held liable for any damages arising from the use of this software.
	8	Permission is granted to anyone to use this software for any purpose,
	9	including commercial applications, and to alter it and redistribute it freely,
	10	subject to the following restrictions:
	11
	12	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.
	13	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	14	3. This notice may not be removed or altered from any source distribution.
	15
	16	Elsevier CDROM license agreements grants nonexclusive license to use the software
	17	for any purpose, commercial or non-commercial as long as the following credit is included
	18	identifying the original source of the software:
	19
	20	Parts of the source are "from the book Real-Time Collision Detection by
	21	Christer Ericson, published by Morgan Kaufmann Publishers,
	22	(c) 2005 Elsevier Inc."
	23
	24	*/
	25
	26
	27	#include "btVoronoiSimplexSolver.h"
	28
	29	#define VERTA 0
	30	#define VERTB 1
	31	#define VERTC 2
	32	#define VERTD 3
	33
	34	#define CATCH_DEGENERATE_TETRAHEDRON 1
	35	void btVoronoiSimplexSolver::removeVertex(int index)
	36	{
	37
[2882]	38	btAssert(m_numVertices>0);
[1963]	39	m_numVertices--;
	40	m_simplexVectorW[index] = m_simplexVectorW[m_numVertices];
	41	m_simplexPointsP[index] = m_simplexPointsP[m_numVertices];
	42	m_simplexPointsQ[index] = m_simplexPointsQ[m_numVertices];
	43	}
	44
	45	void btVoronoiSimplexSolver::reduceVertices (const btUsageBitfield& usedVerts)
	46	{
	47	if ((numVertices() >= 4) && (!usedVerts.usedVertexD))
	48	removeVertex(3);
	49
	50	if ((numVertices() >= 3) && (!usedVerts.usedVertexC))
	51	removeVertex(2);
	52
	53	if ((numVertices() >= 2) && (!usedVerts.usedVertexB))
	54	removeVertex(1);
	55
	56	if ((numVertices() >= 1) && (!usedVerts.usedVertexA))
	57	removeVertex(0);
	58
	59	}
	60
	61
	62
	63
	64
	65	//clear the simplex, remove all the vertices
	66	void btVoronoiSimplexSolver::reset()
	67	{
	68	m_cachedValidClosest = false;
	69	m_numVertices = 0;
	70	m_needsUpdate = true;
[8351]	71	m_lastW = btVector3(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
[1963]	72	m_cachedBC.reset();
	73	}
	74
	75
	76
	77	//add a vertex
[2430]	78	void btVoronoiSimplexSolver::addVertex(const btVector3& w, const btVector3& p, const btVector3& q)
[1963]	79	{
	80	m_lastW = w;
	81	m_needsUpdate = true;
	82
	83	m_simplexVectorW[m_numVertices] = w;
	84	m_simplexPointsP[m_numVertices] = p;
	85	m_simplexPointsQ[m_numVertices] = q;
	86
	87	m_numVertices++;
	88	}
	89
	90	bool btVoronoiSimplexSolver::updateClosestVectorAndPoints()
	91	{
	92
	93	if (m_needsUpdate)
	94	{
	95	m_cachedBC.reset();
	96
	97	m_needsUpdate = false;
	98
	99	switch (numVertices())
	100	{
	101	case 0:
	102	m_cachedValidClosest = false;
	103	break;
	104	case 1:
	105	{
	106	m_cachedP1 = m_simplexPointsP[0];
	107	m_cachedP2 = m_simplexPointsQ[0];
	108	m_cachedV = m_cachedP1-m_cachedP2; //== m_simplexVectorW[0]
	109	m_cachedBC.reset();
	110	m_cachedBC.setBarycentricCoordinates(btScalar(1.),btScalar(0.),btScalar(0.),btScalar(0.));
	111	m_cachedValidClosest = m_cachedBC.isValid();
	112	break;
	113	};
	114	case 2:
	115	{
	116	//closest point origin from line segment
	117	const btVector3& from = m_simplexVectorW[0];
	118	const btVector3& to = m_simplexVectorW[1];
	119	btVector3 nearest;
	120
	121	btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
	122	btVector3 diff = p - from;
	123	btVector3 v = to - from;
	124	btScalar t = v.dot(diff);
	125
	126	if (t > 0) {
	127	btScalar dotVV = v.dot(v);
	128	if (t < dotVV) {
	129	t /= dotVV;
	130	diff -= t*v;
	131	m_cachedBC.m_usedVertices.usedVertexA = true;
	132	m_cachedBC.m_usedVertices.usedVertexB = true;
	133	} else {
	134	t = 1;
	135	diff -= v;
	136	//reduce to 1 point
	137	m_cachedBC.m_usedVertices.usedVertexB = true;
	138	}
	139	} else
	140	{
	141	t = 0;
	142	//reduce to 1 point
	143	m_cachedBC.m_usedVertices.usedVertexA = true;
	144	}
	145	m_cachedBC.setBarycentricCoordinates(1-t,t);
	146	nearest = from + t*v;
	147
	148	m_cachedP1 = m_simplexPointsP[0] + t * (m_simplexPointsP[1] - m_simplexPointsP[0]);
	149	m_cachedP2 = m_simplexPointsQ[0] + t * (m_simplexPointsQ[1] - m_simplexPointsQ[0]);
	150	m_cachedV = m_cachedP1 - m_cachedP2;
	151
	152	reduceVertices(m_cachedBC.m_usedVertices);
	153
	154	m_cachedValidClosest = m_cachedBC.isValid();
	155	break;
	156	}
	157	case 3:
	158	{
	159	//closest point origin from triangle
	160	btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
	161
	162	const btVector3& a = m_simplexVectorW[0];
	163	const btVector3& b = m_simplexVectorW[1];
	164	const btVector3& c = m_simplexVectorW[2];
	165
	166	closestPtPointTriangle(p,a,b,c,m_cachedBC);
	167	m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
	168	m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
	169	m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2];
	170
	171	m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
	172	m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
	173	m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2];
	174
	175	m_cachedV = m_cachedP1-m_cachedP2;
	176
	177	reduceVertices (m_cachedBC.m_usedVertices);
	178	m_cachedValidClosest = m_cachedBC.isValid();
	179
	180	break;
	181	}
	182	case 4:
	183	{
	184
	185
	186	btVector3 p (btScalar(0.),btScalar(0.),btScalar(0.));
	187
	188	const btVector3& a = m_simplexVectorW[0];
	189	const btVector3& b = m_simplexVectorW[1];
	190	const btVector3& c = m_simplexVectorW[2];
	191	const btVector3& d = m_simplexVectorW[3];
	192
	193	bool hasSeperation = closestPtPointTetrahedron(p,a,b,c,d,m_cachedBC);
	194
	195	if (hasSeperation)
	196	{
	197
	198	m_cachedP1 = m_simplexPointsP[0] * m_cachedBC.m_barycentricCoords[0] +
	199	m_simplexPointsP[1] * m_cachedBC.m_barycentricCoords[1] +
	200	m_simplexPointsP[2] * m_cachedBC.m_barycentricCoords[2] +
	201	m_simplexPointsP[3] * m_cachedBC.m_barycentricCoords[3];
	202
	203	m_cachedP2 = m_simplexPointsQ[0] * m_cachedBC.m_barycentricCoords[0] +
	204	m_simplexPointsQ[1] * m_cachedBC.m_barycentricCoords[1] +
	205	m_simplexPointsQ[2] * m_cachedBC.m_barycentricCoords[2] +
	206	m_simplexPointsQ[3] * m_cachedBC.m_barycentricCoords[3];
	207
	208	m_cachedV = m_cachedP1-m_cachedP2;
	209	reduceVertices (m_cachedBC.m_usedVertices);
	210	} else
	211	{
	212	// printf("sub distance got penetration\n");
	213
	214	if (m_cachedBC.m_degenerate)
	215	{
	216	m_cachedValidClosest = false;
	217	} else
	218	{
	219	m_cachedValidClosest = true;
	220	//degenerate case == false, penetration = true + zero
	221	m_cachedV.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
	222	}
	223	break;
	224	}
	225
	226	m_cachedValidClosest = m_cachedBC.isValid();
	227
	228	//closest point origin from tetrahedron
	229	break;
	230	}
	231	default:
	232	{
	233	m_cachedValidClosest = false;
	234	}
	235	};
	236	}
	237
	238	return m_cachedValidClosest;
	239
	240	}
	241
	242	//return/calculate the closest vertex
	243	bool btVoronoiSimplexSolver::closest(btVector3& v)
	244	{
	245	bool succes = updateClosestVectorAndPoints();
	246	v = m_cachedV;
	247	return succes;
	248	}
	249
	250
	251
	252	btScalar btVoronoiSimplexSolver::maxVertex()
	253	{
	254	int i, numverts = numVertices();
	255	btScalar maxV = btScalar(0.);
	256	for (i=0;i<numverts;i++)
	257	{
	258	btScalar curLen2 = m_simplexVectorW[i].length2();
	259	if (maxV < curLen2)
	260	maxV = curLen2;
	261	}
	262	return maxV;
	263	}
	264
	265
	266
	267	//return the current simplex
[2430]	268	int btVoronoiSimplexSolver::getSimplex(btVector3 pBuf, btVector3 qBuf, btVector3 *yBuf) const
[1963]	269	{
	270	int i;
	271	for (i=0;i<numVertices();i++)
	272	{
	273	yBuf[i] = m_simplexVectorW[i];
	274	pBuf[i] = m_simplexPointsP[i];
	275	qBuf[i] = m_simplexPointsQ[i];
	276	}
	277	return numVertices();
	278	}
	279
	280
	281
	282
	283	bool btVoronoiSimplexSolver::inSimplex(const btVector3& w)
	284	{
	285	bool found = false;
	286	int i, numverts = numVertices();
	287	//btScalar maxV = btScalar(0.);
	288
	289	//w is in the current (reduced) simplex
	290	for (i=0;i<numverts;i++)
	291	{
[8351]	292	#ifdef BT_USE_EQUAL_VERTEX_THRESHOLD
	293	if ( m_simplexVectorW[i].distance2(w) <= m_equalVertexThreshold)
	294	#else
[1963]	295	if (m_simplexVectorW[i] == w)
[8351]	296	#endif
[1963]	297	found = true;
	298	}
	299
	300	//check in case lastW is already removed
	301	if (w == m_lastW)
	302	return true;
	303
	304	return found;
	305	}
	306
	307	void btVoronoiSimplexSolver::backup_closest(btVector3& v)
	308	{
	309	v = m_cachedV;
	310	}
	311
	312
	313	bool btVoronoiSimplexSolver::emptySimplex() const
	314	{
	315	return (numVertices() == 0);
	316
	317	}
	318
[2430]	319	void btVoronoiSimplexSolver::compute_points(btVector3& p1, btVector3& p2)
[1963]	320	{
	321	updateClosestVectorAndPoints();
	322	p1 = m_cachedP1;
	323	p2 = m_cachedP2;
	324
	325	}
	326
	327
	328
	329
[2430]	330	bool btVoronoiSimplexSolver::closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result)
[1963]	331	{
	332	result.m_usedVertices.reset();
	333
	334	// Check if P in vertex region outside A
	335	btVector3 ab = b - a;
	336	btVector3 ac = c - a;
	337	btVector3 ap = p - a;
	338	btScalar d1 = ab.dot(ap);
	339	btScalar d2 = ac.dot(ap);
	340	if (d1 <= btScalar(0.0) && d2 <= btScalar(0.0))
	341	{
	342	result.m_closestPointOnSimplex = a;
	343	result.m_usedVertices.usedVertexA = true;
	344	result.setBarycentricCoordinates(1,0,0);
	345	return true;// a; // barycentric coordinates (1,0,0)
	346	}
	347
	348	// Check if P in vertex region outside B
	349	btVector3 bp = p - b;
	350	btScalar d3 = ab.dot(bp);
	351	btScalar d4 = ac.dot(bp);
	352	if (d3 >= btScalar(0.0) && d4 <= d3)
	353	{
	354	result.m_closestPointOnSimplex = b;
	355	result.m_usedVertices.usedVertexB = true;
	356	result.setBarycentricCoordinates(0,1,0);
	357
	358	return true; // b; // barycentric coordinates (0,1,0)
	359	}
	360	// Check if P in edge region of AB, if so return projection of P onto AB
	361	btScalar vc = d1d4 - d3d2;
	362	if (vc <= btScalar(0.0) && d1 >= btScalar(0.0) && d3 <= btScalar(0.0)) {
	363	btScalar v = d1 / (d1 - d3);
	364	result.m_closestPointOnSimplex = a + v * ab;
	365	result.m_usedVertices.usedVertexA = true;
	366	result.m_usedVertices.usedVertexB = true;
	367	result.setBarycentricCoordinates(1-v,v,0);
	368	return true;
	369	//return a + v * ab; // barycentric coordinates (1-v,v,0)
	370	}
	371
	372	// Check if P in vertex region outside C
	373	btVector3 cp = p - c;
	374	btScalar d5 = ab.dot(cp);
	375	btScalar d6 = ac.dot(cp);
	376	if (d6 >= btScalar(0.0) && d5 <= d6)
	377	{
	378	result.m_closestPointOnSimplex = c;
	379	result.m_usedVertices.usedVertexC = true;
	380	result.setBarycentricCoordinates(0,0,1);
	381	return true;//c; // barycentric coordinates (0,0,1)
	382	}
	383
	384	// Check if P in edge region of AC, if so return projection of P onto AC
	385	btScalar vb = d5d2 - d1d6;
	386	if (vb <= btScalar(0.0) && d2 >= btScalar(0.0) && d6 <= btScalar(0.0)) {
	387	btScalar w = d2 / (d2 - d6);
	388	result.m_closestPointOnSimplex = a + w * ac;
	389	result.m_usedVertices.usedVertexA = true;
	390	result.m_usedVertices.usedVertexC = true;
	391	result.setBarycentricCoordinates(1-w,0,w);
	392	return true;
	393	//return a + w * ac; // barycentric coordinates (1-w,0,w)
	394	}
	395
	396	// Check if P in edge region of BC, if so return projection of P onto BC
	397	btScalar va = d3d6 - d5d4;
	398	if (va <= btScalar(0.0) && (d4 - d3) >= btScalar(0.0) && (d5 - d6) >= btScalar(0.0)) {
	399	btScalar w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
	400
	401	result.m_closestPointOnSimplex = b + w * (c - b);
	402	result.m_usedVertices.usedVertexB = true;
	403	result.m_usedVertices.usedVertexC = true;
	404	result.setBarycentricCoordinates(0,1-w,w);
	405	return true;
	406	// return b + w * (c - b); // barycentric coordinates (0,1-w,w)
	407	}
	408
	409	// P inside face region. Compute Q through its barycentric coordinates (u,v,w)
	410	btScalar denom = btScalar(1.0) / (va + vb + vc);
	411	btScalar v = vb * denom;
	412	btScalar w = vc * denom;
	413
	414	result.m_closestPointOnSimplex = a + ab * v + ac * w;
	415	result.m_usedVertices.usedVertexA = true;
	416	result.m_usedVertices.usedVertexB = true;
	417	result.m_usedVertices.usedVertexC = true;
	418	result.setBarycentricCoordinates(1-v-w,v,w);
	419
	420	return true;
	421	// return a + ab * v + ac * w; // = ua + vb + wc, u = va denom = btScalar(1.0) - v - w
	422
	423	}
	424
	425
	426
	427
	428
	429	/// Test if point p and d lie on opposite sides of plane through abc
[2430]	430	int btVoronoiSimplexSolver::pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d)
[1963]	431	{
	432	btVector3 normal = (b-a).cross(c-a);
	433
	434	btScalar signp = (p - a).dot(normal); // [AP AB AC]
	435	btScalar signd = (d - a).dot( normal); // [AD AB AC]
	436
	437	#ifdef CATCH_DEGENERATE_TETRAHEDRON
	438	#ifdef BT_USE_DOUBLE_PRECISION
	439	if (signd * signd < (btScalar(1e-8) * btScalar(1e-8)))
	440	{
	441	return -1;
	442	}
	443	#else
	444	if (signd * signd < (btScalar(1e-4) * btScalar(1e-4)))
	445	{
	446	// printf("affine dependent/degenerate\n");//
	447	return -1;
	448	}
	449	#endif
	450
	451	#endif
	452	// Points on opposite sides if expression signs are opposite
	453	return signp * signd < btScalar(0.);
	454	}
	455
	456
[2430]	457	bool btVoronoiSimplexSolver::closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult)
[1963]	458	{
	459	btSubSimplexClosestResult tempResult;
	460
	461	// Start out assuming point inside all halfspaces, so closest to itself
	462	finalResult.m_closestPointOnSimplex = p;
	463	finalResult.m_usedVertices.reset();
	464	finalResult.m_usedVertices.usedVertexA = true;
	465	finalResult.m_usedVertices.usedVertexB = true;
	466	finalResult.m_usedVertices.usedVertexC = true;
	467	finalResult.m_usedVertices.usedVertexD = true;
	468
	469	int pointOutsideABC = pointOutsideOfPlane(p, a, b, c, d);
	470	int pointOutsideACD = pointOutsideOfPlane(p, a, c, d, b);
	471	int pointOutsideADB = pointOutsideOfPlane(p, a, d, b, c);
	472	int pointOutsideBDC = pointOutsideOfPlane(p, b, d, c, a);
	473
	474	if (pointOutsideABC < 0 \|\| pointOutsideACD < 0 \|\| pointOutsideADB < 0 \|\| pointOutsideBDC < 0)
	475	{
	476	finalResult.m_degenerate = true;
	477	return false;
	478	}
	479
	480	if (!pointOutsideABC && !pointOutsideACD && !pointOutsideADB && !pointOutsideBDC)
	481	{
	482	return false;
	483	}
	484
	485
	486	btScalar bestSqDist = FLT_MAX;
	487	// If point outside face abc then compute closest point on abc
	488	if (pointOutsideABC)
	489	{
	490	closestPtPointTriangle(p, a, b, c,tempResult);
[2430]	491	btVector3 q = tempResult.m_closestPointOnSimplex;
[1963]	492
	493	btScalar sqDist = (q - p).dot( q - p);
	494	// Update best closest point if (squared) distance is less than current best
	495	if (sqDist < bestSqDist) {
	496	bestSqDist = sqDist;
	497	finalResult.m_closestPointOnSimplex = q;
	498	//convert result bitmask!
	499	finalResult.m_usedVertices.reset();
	500	finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
	501	finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexB;
	502	finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
	503	finalResult.setBarycentricCoordinates(
	504	tempResult.m_barycentricCoords[VERTA],
	505	tempResult.m_barycentricCoords[VERTB],
	506	tempResult.m_barycentricCoords[VERTC],
	507	0
	508	);
	509
	510	}
	511	}
	512
	513
	514	// Repeat test for face acd
	515	if (pointOutsideACD)
	516	{
	517	closestPtPointTriangle(p, a, c, d,tempResult);
[2430]	518	btVector3 q = tempResult.m_closestPointOnSimplex;
[1963]	519	//convert result bitmask!
	520
	521	btScalar sqDist = (q - p).dot( q - p);
	522	if (sqDist < bestSqDist)
	523	{
	524	bestSqDist = sqDist;
	525	finalResult.m_closestPointOnSimplex = q;
	526	finalResult.m_usedVertices.reset();
	527	finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
	528
	529	finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexB;
	530	finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexC;
	531	finalResult.setBarycentricCoordinates(
	532	tempResult.m_barycentricCoords[VERTA],
	533	0,
	534	tempResult.m_barycentricCoords[VERTB],
	535	tempResult.m_barycentricCoords[VERTC]
	536	);
	537
	538	}
	539	}
	540	// Repeat test for face adb
	541
	542
	543	if (pointOutsideADB)
	544	{
	545	closestPtPointTriangle(p, a, d, b,tempResult);
[2430]	546	btVector3 q = tempResult.m_closestPointOnSimplex;
[1963]	547	//convert result bitmask!
	548
	549	btScalar sqDist = (q - p).dot( q - p);
	550	if (sqDist < bestSqDist)
	551	{
	552	bestSqDist = sqDist;
	553	finalResult.m_closestPointOnSimplex = q;
	554	finalResult.m_usedVertices.reset();
	555	finalResult.m_usedVertices.usedVertexA = tempResult.m_usedVertices.usedVertexA;
	556	finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexC;
	557
	558	finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
	559	finalResult.setBarycentricCoordinates(
	560	tempResult.m_barycentricCoords[VERTA],
	561	tempResult.m_barycentricCoords[VERTC],
	562	0,
	563	tempResult.m_barycentricCoords[VERTB]
	564	);
	565
	566	}
	567	}
	568	// Repeat test for face bdc
	569
	570
	571	if (pointOutsideBDC)
	572	{
	573	closestPtPointTriangle(p, b, d, c,tempResult);
[2430]	574	btVector3 q = tempResult.m_closestPointOnSimplex;
[1963]	575	//convert result bitmask!
	576	btScalar sqDist = (q - p).dot( q - p);
	577	if (sqDist < bestSqDist)
	578	{
	579	bestSqDist = sqDist;
	580	finalResult.m_closestPointOnSimplex = q;
	581	finalResult.m_usedVertices.reset();
	582	//
	583	finalResult.m_usedVertices.usedVertexB = tempResult.m_usedVertices.usedVertexA;
	584	finalResult.m_usedVertices.usedVertexC = tempResult.m_usedVertices.usedVertexC;
	585	finalResult.m_usedVertices.usedVertexD = tempResult.m_usedVertices.usedVertexB;
	586
	587	finalResult.setBarycentricCoordinates(
	588	0,
	589	tempResult.m_barycentricCoords[VERTA],
	590	tempResult.m_barycentricCoords[VERTC],
	591	tempResult.m_barycentricCoords[VERTB]
	592	);
	593
	594	}
	595	}
	596
	597	//help! we ended up full !
	598
	599	if (finalResult.m_usedVertices.usedVertexA &&
	600	finalResult.m_usedVertices.usedVertexB &&
	601	finalResult.m_usedVertices.usedVertexC &&
	602	finalResult.m_usedVertices.usedVertexD)
	603	{
	604	return true;
	605	}
	606
	607	return true;
	608	}
	609

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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp @ 10111

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