mirror of
https://github.com/bulletphysics/bullet3
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62 lines
1.6 KiB
C++
62 lines
1.6 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef COMBINED_SIMPLEX_SOLVER
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#define COMBINED_SIMPLEX_SOLVER
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#include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
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#include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
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#include "Solid3JohnsonSimplexSolver.h"
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/// CombinedSimplexSolver runs both Solid and Voronoi Simplex Solver for comparison
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class CombinedSimplexSolver: public btSimplexSolverInterface
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{
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btVoronoiSimplexSolver m_voronoiSolver;
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// btVoronoiSimplexSolver m_johnsonSolver;
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Solid3JohnsonSimplexSolver m_johnsonSolver;
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bool m_useVoronoiSolver;
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void debugPrint();
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public:
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CombinedSimplexSolver();
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virtual ~CombinedSimplexSolver() {};
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virtual void reset();
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virtual void addVertex(const btVector3& w, const btPoint3& p, const btPoint3& q);
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virtual bool closest(btVector3& v);
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virtual btScalar maxVertex();
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virtual bool fullSimplex() const;
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virtual int getSimplex(btPoint3 *pBuf, btPoint3 *qBuf, btVector3 *yBuf) const;
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virtual bool inSimplex(const btVector3& w);
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virtual void backup_closest(btVector3& v) ;
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virtual bool emptySimplex() const;
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virtual void compute_points(btPoint3& p1, btPoint3& p2);
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virtual int numVertices() const;
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};
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#endif //COMBINED_SIMPLEX_SOLVER
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