com.bulletphysics.collision.narrowphase
Interface SimplexSolverInterface

All Known Implementing Classes:
VoronoiSimplexSolver

public interface SimplexSolverInterface

SimplexSolverInterface 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.


Method Summary
 void addVertex(Vector3f w, Vector3f p, Vector3f q)
           
 void backup_closest(Vector3f v)
           
 boolean closest(Vector3f v)
           
 void compute_points(Vector3f p1, Vector3f p2)
           
 boolean emptySimplex()
           
 boolean fullSimplex()
           
 int getSimplex(Vector3f[] pBuf, Vector3f[] qBuf, Vector3f[] yBuf)
           
 boolean inSimplex(Vector3f w)
           
 float maxVertex()
           
 int numVertices()
           
 void reset()
           
 

Method Detail

reset

void reset()

addVertex

void addVertex(Vector3f w,
               Vector3f p,
               Vector3f q)

closest

boolean closest(Vector3f v)

maxVertex

float maxVertex()

fullSimplex

boolean fullSimplex()

getSimplex

int getSimplex(Vector3f[] pBuf,
               Vector3f[] qBuf,
               Vector3f[] yBuf)

inSimplex

boolean inSimplex(Vector3f w)

backup_closest

void backup_closest(Vector3f v)

emptySimplex

boolean emptySimplex()

compute_points

void compute_points(Vector3f p1,
                    Vector3f p2)

numVertices

int numVertices()