Blender V5.0
Classes | Macros | Functions | Variables
btVoronoiSimplexSolver.h File Reference
#include "btSimplexSolverInterface.h"

Go to the source code of this file.

Classes

struct  btUsageBitfield
struct  btSubSimplexClosestResult

Macros

#define VORONOI_SIMPLEX_MAX_VERTS   5
#define BT_USE_EQUAL_VERTEX_THRESHOLD
 disable next define, or use defaultCollisionConfiguration->getSimplexSolver()->setEqualVertexThreshold(0.f) to disable/configure
#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD   0.0001f

Functions

void removeVertex (int index)
void reduceVertices (const btUsageBitfield &usedVerts)
bool updateClosestVectorAndPoints ()
bool closestPtPointTetrahedron (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d, btSubSimplexClosestResult &finalResult)
int pointOutsideOfPlane (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, const btVector3 &d)
 Test if point p and d lie on opposite sides of plane through abc.
bool closestPtPointTriangle (const btVector3 &p, const btVector3 &a, const btVector3 &b, const btVector3 &c, btSubSimplexClosestResult &result)
void reset ()
void addVertex (const btVector3 &w, const btVector3 &p, const btVector3 &q)
void setEqualVertexThreshold (btScalar threshold)
btScalar getEqualVertexThreshold () const
bool closest (btVector3 &v)
btScalar maxVertex ()
bool fullSimplex () const
int getSimplex (btVector3 *pBuf, btVector3 *qBuf, btVector3 *yBuf) const
bool inSimplex (const btVector3 &w)
void backup_closest (btVector3 &v)
bool emptySimplex () const
void compute_points (btVector3 &p1, btVector3 &p2)
int numVertices () const

Variables

 btVoronoiSimplexSolver
int m_numVertices
btVector3 m_simplexVectorW [VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_simplexPointsP [VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_simplexPointsQ [VORONOI_SIMPLEX_MAX_VERTS]
btVector3 m_cachedP1
btVector3 m_cachedP2
btVector3 m_cachedV
btVector3 m_lastW
btScalar m_equalVertexThreshold
bool m_cachedValidClosest
btSubSimplexClosestResult m_cachedBC
bool m_needsUpdate

Macro Definition Documentation

◆ BT_USE_EQUAL_VERTEX_THRESHOLD

#define BT_USE_EQUAL_VERTEX_THRESHOLD

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

Definition at line 24 of file btVoronoiSimplexSolver.h.

◆ VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD

#define VORONOI_DEFAULT_EQUAL_VERTEX_THRESHOLD   0.0001f

Definition at line 29 of file btVoronoiSimplexSolver.h.

◆ VORONOI_SIMPLEX_MAX_VERTS

#define VORONOI_SIMPLEX_MAX_VERTS   5

Definition at line 21 of file btVoronoiSimplexSolver.h.

Function Documentation

◆ addVertex()

void btVoronoiSimplexSolver::addVertex ( const btVector3 & w,
const btVector3 & p,
const btVector3 & q )

Definition at line 69 of file btVoronoiSimplexSolver.cpp.

References btVector3, m_lastW, m_needsUpdate, m_numVertices, m_simplexPointsP, m_simplexPointsQ, m_simplexVectorW, and w().

◆ backup_closest()

void btVoronoiSimplexSolver::backup_closest ( btVector3 & v)

Definition at line 296 of file btVoronoiSimplexSolver.cpp.

References btVector3, m_cachedV, and v.

◆ closest()

bool btVoronoiSimplexSolver::closest ( btVector3 & v)

Definition at line 236 of file btVoronoiSimplexSolver.cpp.

References btVector3, m_cachedV, updateClosestVectorAndPoints(), and v.

Referenced by bm_edgexvert_isect_impl(), blender::ed::sculpt_paint::brushes::calc_translations(), blender::ed::sculpt_paint::calc_translations_to_plane(), blender::ed::sculpt_paint::calc_translations_to_plane(), clip_to_ortho_planes(), Freestyle::GridHelpers::closestPointOnPolygon(), dist_squared_to_line_segment_v2(), dist_squared_to_line_segment_v3(), dist_squared_to_line_v2(), dist_squared_to_line_v3(), ed_curves_select_pick(), ed_grease_pencil_select_pick(), heat_source_distance(), marker_jump_exec(), paintcurve_point_get_closest(), pointcloud_select_pick(), blender::ed::curves::select_linked_pick(), blender::ed::transform::snap_source_closest_fn(), blender::editor::animation::tests::TEST(), and blender::ed::greasepencil::weight_sample_invoke().

◆ closestPtPointTetrahedron()

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

Definition at line 437 of file btVoronoiSimplexSolver.cpp.

References b, btVector3, closestPtPointTriangle(), dot(), FLT_MAX, btSubSimplexClosestResult::m_barycentricCoords, btSubSimplexClosestResult::m_closestPointOnSimplex, btSubSimplexClosestResult::m_degenerate, btSubSimplexClosestResult::m_usedVertices, pointOutsideOfPlane(), btUsageBitfield::reset(), btSubSimplexClosestResult::setBarycentricCoordinates(), btUsageBitfield::usedVertexA, btUsageBitfield::usedVertexB, btUsageBitfield::usedVertexC, btUsageBitfield::usedVertexD, VERTA, VERTB, and VERTC.

Referenced by updateClosestVectorAndPoints().

◆ closestPtPointTriangle()

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

Definition at line 313 of file btVoronoiSimplexSolver.cpp.

References b, btVector3, result, v, and w().

Referenced by closestPtPointTetrahedron(), and updateClosestVectorAndPoints().

◆ compute_points()

void btVoronoiSimplexSolver::compute_points ( btVector3 & p1,
btVector3 & p2 )

Definition at line 306 of file btVoronoiSimplexSolver.cpp.

References btVector3, m_cachedP1, m_cachedP2, and updateClosestVectorAndPoints().

◆ emptySimplex()

bool btVoronoiSimplexSolver::emptySimplex ( ) const

Definition at line 301 of file btVoronoiSimplexSolver.cpp.

References numVertices().

◆ fullSimplex()

bool fullSimplex ( ) const

Definition at line 152 of file btVoronoiSimplexSolver.h.

References m_numVertices.

◆ getEqualVertexThreshold()

btScalar getEqualVertexThreshold ( ) const

Definition at line 143 of file btVoronoiSimplexSolver.h.

References m_equalVertexThreshold.

◆ getSimplex()

int btVoronoiSimplexSolver::getSimplex ( btVector3 * pBuf,
btVector3 * qBuf,
btVector3 * yBuf ) const

Definition at line 257 of file btVoronoiSimplexSolver.cpp.

References btVector3, i, m_simplexPointsP, m_simplexPointsQ, m_simplexVectorW, and numVertices().

◆ inSimplex()

bool btVoronoiSimplexSolver::inSimplex ( const btVector3 & w)

Definition at line 269 of file btVoronoiSimplexSolver.cpp.

References btVector3, distance2(), i, m_equalVertexThreshold, m_lastW, m_simplexVectorW, numVertices(), and w().

◆ maxVertex()

btScalar btVoronoiSimplexSolver::maxVertex ( )

Definition at line 243 of file btVoronoiSimplexSolver.cpp.

References i, m_simplexVectorW, and numVertices().

◆ numVertices()

int numVertices ( ) const

Definition at line 167 of file btVoronoiSimplexSolver.h.

References m_numVertices, and m_vertices.

Referenced by btTriangleIndexVertexArray(), btTriangleIndexVertexMaterialArray(), btPolyhedralContactClipping::clipHullAgainstHull(), btDefaultSoftBodySolver::copySoftBodyToVertexBuffer(), emptySimplex(), mikk::Mikktspace< Mesh >::generateSharedVerticesIndexList_impl(), getSimplex(), initialize2(), initializePolyhedralFeatures(), inSimplex(), maxVertex(), Freestyle::FEdgeXDetector::ProcessRidgeFace(), Freestyle::FEdgeXDetector::ProcessSilhouetteFace(), Freestyle::FEdgeXDetector::ProcessSuggestiveContourFace(), reduceVertices(), and updateClosestVectorAndPoints().

◆ pointOutsideOfPlane()

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

Test if point p and d lie on opposite sides of plane through abc.

Definition at line 411 of file btVoronoiSimplexSolver.cpp.

References b, btVector3, cross, dot(), and e.

Referenced by closestPtPointTetrahedron().

◆ reduceVertices()

void btVoronoiSimplexSolver::reduceVertices ( const btUsageBitfield & usedVerts)

Definition at line 43 of file btVoronoiSimplexSolver.cpp.

References numVertices(), removeVertex(), btUsageBitfield::usedVertexA, btUsageBitfield::usedVertexB, btUsageBitfield::usedVertexC, and btUsageBitfield::usedVertexD.

Referenced by updateClosestVectorAndPoints().

◆ removeVertex()

void btVoronoiSimplexSolver::removeVertex ( int index)

Definition at line 34 of file btVoronoiSimplexSolver.cpp.

References btAssert, m_numVertices, m_simplexPointsP, m_simplexPointsQ, and m_simplexVectorW.

Referenced by reduceVertices().

◆ reset()

void reset ( )

Definition at line 40 of file btTetrahedronShape.h.

◆ setEqualVertexThreshold()

void setEqualVertexThreshold ( btScalar threshold)

Definition at line 138 of file btVoronoiSimplexSolver.h.

References m_equalVertexThreshold.

◆ updateClosestVectorAndPoints()

bool btVoronoiSimplexSolver::updateClosestVectorAndPoints ( )

Definition at line 81 of file btVoronoiSimplexSolver.cpp.

References b, btVector3, closestPtPointTetrahedron(), closestPtPointTriangle(), diff(), m_cachedBC, m_cachedP1, m_cachedP2, m_cachedV, m_cachedValidClosest, m_needsUpdate, m_simplexPointsP, m_simplexPointsQ, m_simplexVectorW, numVertices(), reduceVertices(), and v.

Referenced by closest(), and compute_points().

Variable Documentation

◆ btVoronoiSimplexSolver

btVoronoiSimplexSolver
Initial value:
{
public:
BT_DECLARE_ALIGNED_ALLOCATOR()
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition btScalar.h:425

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.

Definition at line 94 of file btVoronoiSimplexSolver.h.

Referenced by btComputeGjkEpaPenetration(), btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(), btConvexConvexAlgorithm::calculateTimeOfImpact(), btSoftBodyConcaveCollisionAlgorithm::calculateTimeOfImpact(), btCollisionWorld::objectQuerySingleInternal(), btConvexConvexAlgorithm::processCollision(), btTriangleConvexcastCallback::processTriangle(), and btCollisionWorld::rayTestSingleInternal().

◆ m_cachedBC

btSubSimplexClosestResult m_cachedBC

Definition at line 117 of file btVoronoiSimplexSolver.h.

Referenced by updateClosestVectorAndPoints().

◆ m_cachedP1

btVector3 m_cachedP1

Definition at line 109 of file btVoronoiSimplexSolver.h.

Referenced by compute_points(), and updateClosestVectorAndPoints().

◆ m_cachedP2

btVector3 m_cachedP2

Definition at line 110 of file btVoronoiSimplexSolver.h.

Referenced by compute_points(), and updateClosestVectorAndPoints().

◆ m_cachedV

btVector3 m_cachedV

Definition at line 111 of file btVoronoiSimplexSolver.h.

Referenced by backup_closest(), closest(), and updateClosestVectorAndPoints().

◆ m_cachedValidClosest

bool m_cachedValidClosest

Definition at line 115 of file btVoronoiSimplexSolver.h.

Referenced by updateClosestVectorAndPoints().

◆ m_equalVertexThreshold

btScalar m_equalVertexThreshold

Definition at line 114 of file btVoronoiSimplexSolver.h.

Referenced by getEqualVertexThreshold(), inSimplex(), btConnectivityProcessor::processTriangle(), and setEqualVertexThreshold().

◆ m_lastW

btVector3 m_lastW

Definition at line 112 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), and inSimplex().

◆ m_needsUpdate

bool m_needsUpdate

Definition at line 119 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), and updateClosestVectorAndPoints().

◆ m_numVertices

int m_numVertices

Definition at line 103 of file btVoronoiSimplexSolver.h.

◆ m_simplexPointsP

btVector3 m_simplexPointsP[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 106 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), removeVertex(), and updateClosestVectorAndPoints().

◆ m_simplexPointsQ

btVector3 m_simplexPointsQ[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 107 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), removeVertex(), and updateClosestVectorAndPoints().

◆ m_simplexVectorW

btVector3 m_simplexVectorW[VORONOI_SIMPLEX_MAX_VERTS]

Definition at line 105 of file btVoronoiSimplexSolver.h.

Referenced by addVertex(), getSimplex(), inSimplex(), maxVertex(), removeVertex(), and updateClosestVectorAndPoints().

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