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authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h')
-rw-r--r--thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h40
1 files changed, 40 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
new file mode 100644
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+++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
@@ -0,0 +1,40 @@
+/*
+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 BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+#define BT_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
+{
+protected:
+
+ static btVector3* getPenetrationDirections();
+
+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
+ );
+};
+
+#endif //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+