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#ifndef BT_VORONOI_SIMPLEX_SOLVER_H

#define BT_VORONOI_SIMPLEX_SOLVER_H

#include "btSimplexSolverInterface.h"

#define VORONOI_SIMPLEX_MAX_VERTS 5

///disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure

#define BT_USE_EQUAL_VERTEX_THRESHOLD

#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD 0.0001f

struct btUsageBitfield{

btUsageBitfield()

{

reset();

}

void reset()

{

usedVertexA = false;

usedVertexB = false;

usedVertexC = false;

usedVertexD = false;

}

unsigned short usedVertexA : 1;

unsigned short usedVertexB : 1;

unsigned short usedVertexC : 1;

unsigned short usedVertexD : 1;

unsigned short unused1 : 1;

unsigned short unused2 : 1;

unsigned short unused3 : 1;

unsigned short unused4 : 1;

};

struct btSubSimplexClosestResult

{

btVector3 m_closestPointOnSimplex;

//MASK for m_usedVertices

//stores the simplex vertex-usage, using the MASK,

// if m_usedVertices & MASK then the related vertex is used

btUsageBitfield m_usedVertices;

btScalar m_barycentricCoords[4];

bool m_degenerate;

void reset()

{

m_degenerate = false;

setBarycentricCoordinates();

m_usedVertices.reset();

}

bool isValid()

{

bool valid = (m_barycentricCoords[0] >= btScalar(0.)) &&

(m_barycentricCoords[1] >= btScalar(0.)) &&

(m_barycentricCoords[2] >= btScalar(0.)) &&

(m_barycentricCoords[3] >= btScalar(0.));

return valid;

}

void setBarycentricCoordinates(btScalar a=btScalar(0.),btScalar b=btScalar(0.),btScalar c=btScalar(0.),btScalar d=btScalar(0.))

{

m_barycentricCoords[0] = a;

m_barycentricCoords[1] = b;

m_barycentricCoords[2] = c;

m_barycentricCoords[3] = d;

}

};

/// btVoronoiSimplexSolver 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.

#ifdef NO_VIRTUAL_INTERFACE

class btVoronoiSimplexSolver

#else

class btVoronoiSimplexSolver : public btSimplexSolverInterface

#endif

{

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public:

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int m_numVertices;

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btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS];

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btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS];

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btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS];

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btVector3 m_cachedP1;

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btVector3 m_cachedP2;

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btVector3 m_cachedV;

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btVector3 m_lastW;

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btScalar m_equalVertexThreshold;

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bool m_cachedValidClosest;

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btSubSimplexClosestResult m_cachedBC;

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bool m_needsUpdate;

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void removeVertex(int index);

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void reduceVertices (const btUsageBitfield& usedVerts);

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bool updateClosestVectorAndPoints();

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bool closestPtPointTetrahedron(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d, btSubSimplexClosestResult& finalResult);

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int pointOutsideOfPlane(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c, const btVector3& d);

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bool closestPtPointTriangle(const btVector3& p, const btVector3& a, const btVector3& b, const btVector3& c,btSubSimplexClosestResult& result);

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public:

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btVoronoiSimplexSolver()

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: m_equalVertexThreshold(VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD)

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{

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}

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void reset();

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void addVertex(const btVector3& w, const btVector3& p, const btVector3& q);

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void setEqualVertexThreshold(btScalar threshold)

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{

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m_equalVertexThreshold = threshold;

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}

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btScalar getEqualVertexThreshold() const

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{

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return m_equalVertexThreshold;

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}

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bool closest(btVector3& v);

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btScalar maxVertex();

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bool fullSimplex() const

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{

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return (m_numVertices == 4);

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}

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int getSimplex(btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const;

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bool inSimplex(const btVector3& w);

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void backup_closest(btVector3& v) ;

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bool emptySimplex() const ;

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void compute_points(btVector3& p1, btVector3& p2) ;

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int numVertices() const

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{

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return m_numVertices;

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}

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};

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#endif //BT_VORONOI_SIMPLEX_SOLVER_H

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