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Diffstat (limited to 'thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h | 40 |
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 index 0000000000..fd533b4fc3 --- /dev/null +++ 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 + |