48 lines
1.9 KiB
C
48 lines
1.9 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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class btIDebugDraw;
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class btVoronoiSimplexSolver;
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class btConvexShape;
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///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
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///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
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class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public:
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SpuMinkowskiPenetrationDepthSolver() {}
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virtual ~SpuMinkowskiPenetrationDepthSolver() {};
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virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
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const btConvexShape* convexA,const btConvexShape* convexB,
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const btTransform& transA,const btTransform& transB,
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btVector3& v, btVector3& pa, btVector3& pb,
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class btIDebugDraw* debugDraw
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);
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};
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#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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