65 lines
2.2 KiB
C++
65 lines
2.2 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SIMPLEX_SOLVER_INTERFACE_H
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#define SIMPLEX_SOLVER_INTERFACE_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btPoint3.h"
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#define NO_VIRTUAL_INTERFACE 1
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#ifdef NO_VIRTUAL_INTERFACE
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#include "btVoronoiSimplexSolver.h"
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#define btSimplexSolverInterface btVoronoiSimplexSolver
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#else
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/// btSimplexSolverInterface can incrementally calculate distance between origin and up to 4 vertices
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/// Used by GJK or Linear Casting. Can be implemented by the Johnson-algorithm or alternative approaches based on
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/// voronoi regions or barycentric coordinates
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class btSimplexSolverInterface
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{
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public:
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virtual ~btSimplexSolverInterface() {};
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virtual void reset() = 0;
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virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q) = 0;
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virtual bool closest(btVector3& v) = 0;
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virtual btScalar maxVertex() = 0;
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virtual bool fullSimplex() const = 0;
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virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const = 0;
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virtual bool inSimplex(const btVector3& w) = 0;
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virtual void backup_closest(btVector3& v) = 0;
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virtual bool emptySimplex() const = 0;
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virtual void compute_points(btPoint3& p1, btPoint3& p2) = 0;
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virtual int numVertices() const =0;
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};
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#endif
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#endif //SIMPLEX_SOLVER_INTERFACE_H
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