2005-07-16 09:58:01 +00:00
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/*
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2005-10-30 06:44:42 +00:00
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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2005-07-16 09:58:01 +00:00
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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 SIMPLEX_SOLVER_INTERFACE_H
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#define SIMPLEX_SOLVER_INTERFACE_H
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#include "SimdVector3.h"
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#include "SimdPoint3.h"
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#define NO_VIRTUAL_INTERFACE
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#ifdef NO_VIRTUAL_INTERFACE
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#include "VoronoiSimplexSolver.h"
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#define SimplexSolverInterface VoronoiSimplexSolver
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#else
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/// for simplices from 1 to 4 vertices
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/// for example Johnson-algorithm or alternative approaches based on
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/// voronoi regions or barycentric coordinates
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class SimplexSolverInterface
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{
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public:
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virtual ~SimplexSolverInterface() {};
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virtual void reset() = 0;
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virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q) = 0;
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virtual bool closest(SimdVector3& v) = 0;
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virtual SimdScalar maxVertex() = 0;
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virtual bool fullSimplex() const = 0;
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virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const = 0;
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virtual bool inSimplex(const SimdVector3& w) = 0;
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virtual void backup_closest(SimdVector3& v) = 0;
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virtual bool emptySimplex() const = 0;
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virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2) = 0;
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virtual int numVertices() const =0;
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};
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#endif
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#endif //SIMPLEX_SOLVER_INTERFACE_H
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