public bool inSimplex( ref btVector3 w )
{
bool found = false;
int i, numverts = m_numVertices;
//double maxV = btScalar.BT_ZERO;
//w is in the current (reduced) simplex
for( i = 0; i < numverts; i++ )
{
#if BT_USE_EQUAL_VERTEX_THRESHOLD
switch( i )
{
case 0: found = ( m_simplexVectorW0.distance2( ref w ) <= m_equalVertexThreshold ); break;
case 1: found = ( m_simplexVectorW1.distance2( ref w ) <= m_equalVertexThreshold ); break;
case 2: found = ( m_simplexVectorW2.distance2( ref w ) <= m_equalVertexThreshold ); break;
case 3: found = ( m_simplexVectorW3.distance2( ref w ) <= m_equalVertexThreshold ); break;
case 4: found = ( m_simplexVectorW4.distance2( ref w ) <= m_equalVertexThreshold ); break;
}
if( found ) break;
#else
if (m_simplexVectorW[i] == w)
found = true;
#endif
}
//check in case lastW is already removed
if( w.Equals( ref m_lastW ) )
return true;
return found;
}