| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| 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 MINKOWSKI_PENETRATION_DEPTH_SOLVER_H |
| #define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H |
| |
| #include "btConvexPenetrationDepthSolver.h" |
| |
| ///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation. |
| ///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points. |
| class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver |
| { |
| public: |
| |
| virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, |
| const btConvexShape* convexA,const btConvexShape* convexB, |
| const btTransform& transA,const btTransform& transB, |
| btVector3& v, btVector3& pa, btVector3& pb, |
| class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc |
| ); |
| }; |
| |
| #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H |
| |