com.bulletphysics.collision.narrowphase
Class SimplexSolverInterface

java.lang.Object
  com.bulletphysics.collision.narrowphase.SimplexSolverInterface

Direct Known Subclasses:

VoronoiSimplexSolver

public abstract class SimplexSolverInterface
extends Object

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.

Constructor Summary

SimplexSolverInterface()

Method Summary

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

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SimplexSolverInterface

public SimplexSolverInterface()

Method Detail

reset

public abstract void reset()

addVertex

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

closest

public abstract boolean closest(Vector3f v)

maxVertex

public abstract float maxVertex()

fullSimplex

public abstract boolean fullSimplex()

getSimplex

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

inSimplex

public abstract boolean inSimplex(Vector3f w)

backup_closest

public abstract void backup_closest(Vector3f v)

emptySimplex

public abstract boolean emptySimplex()

compute_points

public abstract void compute_points(Vector3f p1,
                                    Vector3f p2)

numVertices

public abstract int numVertices()