com.bulletphysics.collision.narrowphase
Class VoronoiSimplexSolver

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

public class VoronoiSimplexSolver
extends SimplexSolverInterface

VoronoiSimplexSolver is an implementation of the closest point distance algorithm from a 1-4 points simplex to the origin. Can be used with GJK, as an alternative to Johnson distance algorithm.

Nested Class Summary

static class	VoronoiSimplexSolver.SubSimplexClosestResult
static class	VoronoiSimplexSolver.UsageBitfield

Field Summary

VoronoiSimplexSolver.SubSimplexClosestResult	cachedBC
Vector3f	cachedP1
Vector3f	cachedP2
Vector3f	cachedV
boolean	cachedValidClosest
Vector3f	lastW
boolean	needsUpdate
int	numVertices
Vector3f[]	simplexPointsP
Vector3f[]	simplexPointsQ
Vector3f[]	simplexVectorW

Constructor Summary

VoronoiSimplexSolver()

Method Summary

void	addVertex(Vector3f w, Vector3f p, Vector3f q)
void	backup_closest(Vector3f v)
boolean	closest(Vector3f v) Return/calculate the closest vertex.
boolean	closestPtPointTetrahedron(Vector3f p, Vector3f a, Vector3f b, Vector3f c, Vector3f d, VoronoiSimplexSolver.SubSimplexClosestResult finalResult)
boolean	closestPtPointTriangle(Vector3f p, Vector3f a, Vector3f b, Vector3f c, VoronoiSimplexSolver.SubSimplexClosestResult result)
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()
static int	pointOutsideOfPlane(Vector3f p, Vector3f a, Vector3f b, Vector3f c, Vector3f d)
void	reduceVertices(VoronoiSimplexSolver.UsageBitfield usedVerts)
void	removeVertex(int index)
void	reset() Clear the simplex, remove all the vertices.
boolean	updateClosestVectorAndPoints()

Methods inherited from class java.lang.Object

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

Field Detail

numVertices

public int numVertices

simplexVectorW

public final Vector3f[] simplexVectorW

simplexPointsP

public final Vector3f[] simplexPointsP

simplexPointsQ

public final Vector3f[] simplexPointsQ

cachedP1

public final Vector3f cachedP1

cachedP2

public final Vector3f cachedP2

cachedV

public final Vector3f cachedV

lastW

public final Vector3f lastW

cachedValidClosest

public boolean cachedValidClosest

cachedBC

public final VoronoiSimplexSolver.SubSimplexClosestResult cachedBC

needsUpdate

public boolean needsUpdate

Constructor Detail

VoronoiSimplexSolver

public VoronoiSimplexSolver()

Method Detail

removeVertex

public void removeVertex(int index)

reduceVertices

public void reduceVertices(VoronoiSimplexSolver.UsageBitfield usedVerts)

updateClosestVectorAndPoints

public boolean updateClosestVectorAndPoints()

closestPtPointTriangle

public boolean closestPtPointTriangle(Vector3f p,
                                      Vector3f a,
                                      Vector3f b,
                                      Vector3f c,
                                      VoronoiSimplexSolver.SubSimplexClosestResult result)

pointOutsideOfPlane

public static int pointOutsideOfPlane(Vector3f p,
                                      Vector3f a,
                                      Vector3f b,
                                      Vector3f c,
                                      Vector3f d)

closestPtPointTetrahedron

public boolean closestPtPointTetrahedron(Vector3f p,
                                         Vector3f a,
                                         Vector3f b,
                                         Vector3f c,
                                         Vector3f d,
                                         VoronoiSimplexSolver.SubSimplexClosestResult finalResult)

reset

public void reset()

Clear the simplex, remove all the vertices.

Specified by:

reset in class SimplexSolverInterface

addVertex

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

Specified by:

addVertex in class SimplexSolverInterface

closest

public boolean closest(Vector3f v)

Return/calculate the closest vertex.

Specified by:

closest in class SimplexSolverInterface

maxVertex

public float maxVertex()

Specified by:

maxVertex in class SimplexSolverInterface

fullSimplex

public boolean fullSimplex()

Specified by:

fullSimplex in class SimplexSolverInterface

getSimplex

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

Specified by:

getSimplex in class SimplexSolverInterface

inSimplex

public boolean inSimplex(Vector3f w)

Specified by:

inSimplex in class SimplexSolverInterface

backup_closest

public void backup_closest(Vector3f v)

Specified by:

backup_closest in class SimplexSolverInterface

emptySimplex

public boolean emptySimplex()

Specified by:

emptySimplex in class SimplexSolverInterface

compute_points

public void compute_points(Vector3f p1,
                           Vector3f p2)

Specified by:

compute_points in class SimplexSolverInterface

numVertices

public int numVertices()

Specified by:

numVertices in class SimplexSolverInterface