| /* |
| 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,btStackAlloc* stackAlloc ); |
| |
| private : |
| |
| }; |
| |
| #endif // BT_GJP_EPA_PENETRATION_DEPTH_H |
| |