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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef SIMPLEX_SOLVER_INTERFACE_H
#define SIMPLEX_SOLVER_INTERFACE_H
#include "SimdVector3.h"
#include "SimdPoint3.h"
#define NO_VIRTUAL_INTERFACE
#ifdef NO_VIRTUAL_INTERFACE
#include "VoronoiSimplexSolver.h"
#define SimplexSolverInterface VoronoiSimplexSolver
#else
/// for simplices from 1 to 4 vertices
/// for example Johnson-algorithm or alternative approaches based on
/// voronoi regions or barycentric coordinates
class SimplexSolverInterface
{
public:
virtual ~SimplexSolverInterface() {};
virtual void reset() = 0;
virtual void addVertex(const SimdVector3& w, const SimdPoint3& p, const SimdPoint3& q) = 0;
virtual bool closest(SimdVector3& v) = 0;
virtual SimdScalar maxVertex() = 0;
virtual bool fullSimplex() const = 0;
virtual int getSimplex(SimdPoint3 *pBuf, SimdPoint3 *qBuf, SimdVector3 *yBuf) const = 0;
virtual bool inSimplex(const SimdVector3& w) = 0;
virtual void backup_closest(SimdVector3& v) = 0;
virtual bool emptySimplex() const = 0;
virtual void compute_points(SimdPoint3& p1, SimdPoint3& p2) = 0;
virtual int numVertices() const =0;
};
#endif
#endif //SIMPLEX_SOLVER_INTERFACE_H
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