diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h | 62 |
1 files changed, 30 insertions, 32 deletions
diff --git a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h index ac501d5ecf..893daea3f5 100644 --- a/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h +++ b/thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h @@ -28,48 +28,46 @@ GJK-EPA collision solver by Nathanael Presson, 2008 #include "BulletCollision/CollisionShapes/btConvexShape.h" ///btGjkEpaSolver contributed under zlib by Nathanael Presson -struct btGjkEpaSolver2 +struct btGjkEpaSolver2 { -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; - btVector3 witnesses[2]; - btVector3 normal; - btScalar 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; + btVector3 witnesses[2]; + btVector3 normal; + btScalar distance; }; -static int StackSizeRequirement(); + static int StackSizeRequirement(); -static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0, - const btConvexShape* shape1,const btTransform& wtrs1, - const btVector3& guess, - sResults& results); + static bool Distance(const btConvexShape* shape0, const btTransform& wtrs0, + const btConvexShape* shape1, const btTransform& wtrs1, + const btVector3& guess, + sResults& results); -static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0, - const btConvexShape* shape1,const btTransform& wtrs1, + static bool Penetration(const btConvexShape* shape0, const btTransform& wtrs0, + const btConvexShape* shape1, const btTransform& wtrs1, const btVector3& guess, sResults& results, - bool usemargins=true); + bool usemargins = true); #ifndef __SPU__ -static btScalar SignedDistance( const btVector3& position, - btScalar margin, - const btConvexShape* shape, - const btTransform& wtrs, - sResults& results); - -static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0, - const btConvexShape* shape1,const btTransform& wtrs1, - const btVector3& guess, - sResults& results); -#endif //__SPU__ + static btScalar SignedDistance(const btVector3& position, + btScalar margin, + const btConvexShape* shape, + const btTransform& wtrs, + sResults& results); + static bool SignedDistance(const btConvexShape* shape0, const btTransform& wtrs0, + const btConvexShape* shape1, const btTransform& wtrs1, + const btVector3& guess, + sResults& results); +#endif //__SPU__ }; -#endif //BT_GJK_EPA2_H - +#endif //BT_GJK_EPA2_H |