diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h | 49 |
1 files changed, 23 insertions, 26 deletions
diff --git a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h index 976238a04c..7db32c6309 100644 --- a/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h +++ b/thirdparty/bullet/Bullet3OpenCL/NarrowphaseCollision/b3GjkEpa.h @@ -29,40 +29,39 @@ GJK-EPA collision solver by Nathanael Presson, 2008 #include "Bullet3Common/b3Transform.h" #include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h" - ///btGjkEpaSolver contributed under zlib by Nathanael Presson -struct b3GjkEpaSolver2 +struct b3GjkEpaSolver2 { -struct sResults + struct sResults { - enum eStatus + enum eStatus { - Separated, /* Shapes doesnt penetrate */ - Penetrating, /* Shapes are penetrating */ - GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ - EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ - } status; - b3Vector3 witnesses[2]; - b3Vector3 normal; - b3Scalar distance; + Separated, /* Shapes doesnt penetrate */ + Penetrating, /* Shapes are penetrating */ + GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ + EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ + } status; + b3Vector3 witnesses[2]; + b3Vector3 normal; + b3Scalar distance; }; -static int StackSizeRequirement(); + static int StackSizeRequirement(); -static bool Distance( const b3Transform& transA, const b3Transform& transB, - const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, - const b3AlignedObjectArray<b3Vector3>& verticesA, - const b3AlignedObjectArray<b3Vector3>& verticesB, - const b3Vector3& guess, - sResults& results); + static bool Distance(const b3Transform& transA, const b3Transform& transB, + const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, + const b3AlignedObjectArray<b3Vector3>& verticesA, + const b3AlignedObjectArray<b3Vector3>& verticesB, + const b3Vector3& guess, + sResults& results); -static bool Penetration( const b3Transform& transA, const b3Transform& transB, - const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, + static bool Penetration(const b3Transform& transA, const b3Transform& transB, + const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB, const b3AlignedObjectArray<b3Vector3>& verticesA, const b3AlignedObjectArray<b3Vector3>& verticesB, const b3Vector3& guess, sResults& results, - bool usemargins=true); + bool usemargins = true); #if 0 static b3Scalar SignedDistance( const b3Vector3& position, b3Scalar margin, @@ -74,9 +73,7 @@ static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs const btConvexShape* shape1,const btTransform& wtrs1, const b3Vector3& guess, sResults& results); -#endif - +#endif }; -#endif //B3_GJK_EPA2_H - +#endif //B3_GJK_EPA2_H |