44 lines
1.7 KiB
C
44 lines
1.7 KiB
C
|
/*
|
||
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||
|
|
||
|
EPA Copyright (c) Ricardo Padrela 2006
|
||
|
|
||
|
This software is provided 'as-is', without any express or implied warranty.
|
||
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
||
|
Permission is granted to anyone to use this software for any purpose,
|
||
|
including commercial applications, and to alter it and redistribute it freely,
|
||
|
subject to the following restrictions:
|
||
|
|
||
|
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.
|
||
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||
|
3. This notice may not be removed or altered from any source distribution.
|
||
|
*/
|
||
|
#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
|
||
|
#define BT_GJP_EPA_PENETRATION_DEPTH_H
|
||
|
|
||
|
#include "btConvexPenetrationDepthSolver.h"
|
||
|
|
||
|
///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
|
||
|
///calculate the penetration depth between two convex shapes.
|
||
|
class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
||
|
{
|
||
|
public :
|
||
|
|
||
|
btGjkEpaPenetrationDepthSolver()
|
||
|
{
|
||
|
}
|
||
|
|
||
|
bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
||
|
const btConvexShape* pConvexA, const btConvexShape* pConvexB,
|
||
|
const btTransform& transformA, const btTransform& transformB,
|
||
|
btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
|
||
|
class btIDebugDraw* debugDraw);
|
||
|
|
||
|
private :
|
||
|
|
||
|
};
|
||
|
|
||
|
#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
|
||
|
|