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- /*
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 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.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
- #ifndef BT_SIMPLEX_SOLVER_INTERFACE_H
- #define BT_SIMPLEX_SOLVER_INTERFACE_H
- #include "bullet/LinearMath/btVector3.h"
- #define NO_VIRTUAL_INTERFACE 1
- #ifdef NO_VIRTUAL_INTERFACE
- #include "btVoronoiSimplexSolver.h"
- #define btSimplexSolverInterface btVoronoiSimplexSolver
- #else
- /// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices
- /// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on
- /// voronoi regions or barycentric coordinates
- class btSimplexSolverInterface
- {
- public:
- virtual ~btSimplexSolverInterface() {};
- virtual void reset() = 0;
- virtual void addVertex(const btVector3& w, const btVector3& p, const btVector3& q) = 0;
-
- virtual bool closest(btVector3& v) = 0;
- virtual btScalar maxVertex() = 0;
- virtual bool fullSimplex() const = 0;
- virtual int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const = 0;
- virtual bool inSimplex(const btVector3& w) = 0;
-
- virtual void backup_closest(btVector3& v) = 0;
- virtual bool emptySimplex() const = 0;
- virtual void compute_points(btVector3& p1, btVector3& p2) = 0;
- virtual int numVertices() const =0;
- };
- #endif
- #endif //BT_SIMPLEX_SOLVER_INTERFACE_H
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