[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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[7983] | 17 | #ifndef __CONVEX_PENETRATION_DEPTH_H |
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| 18 | #define __CONVEX_PENETRATION_DEPTH_H |
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[1963] | 19 | |
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| 20 | class btStackAlloc; |
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| 21 | class btVector3; |
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| 22 | #include "btSimplexSolverInterface.h" |
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| 23 | class btConvexShape; |
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| 24 | class btTransform; |
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| 25 | |
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| 26 | ///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. |
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| 27 | class btConvexPenetrationDepthSolver |
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| 28 | { |
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| 29 | public: |
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| 30 | |
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| 31 | virtual ~btConvexPenetrationDepthSolver() {}; |
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| 32 | virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, |
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| 33 | const btConvexShape* convexA,const btConvexShape* convexB, |
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| 34 | const btTransform& transA,const btTransform& transB, |
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[2430] | 35 | btVector3& v, btVector3& pa, btVector3& pb, |
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[1963] | 36 | class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc |
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| 37 | ) = 0; |
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| 38 | |
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| 39 | |
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| 40 | }; |
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| 41 | #endif //CONVEX_PENETRATION_DEPTH_H |
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| 42 | |
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