| 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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| 17 | GJK-EPA collision solver by Nathanael Presson |
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| 18 | Nov.2006 |
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| 19 | */ |
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| 20 | |
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| 21 | |
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| 22 | #ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_ |
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| 23 | #define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_ |
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| 24 | #include "BulletCollision/CollisionShapes/btConvexShape.h" |
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| 25 | |
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| 26 | class btStackAlloc; |
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| 27 | |
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| 28 | ///btGjkEpaSolver contributed under zlib by Nathanael Presson |
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| 29 | struct btGjkEpaSolver |
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| 30 | { |
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| 31 | struct sResults |
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| 32 | { |
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| 33 | enum eStatus |
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| 34 | { |
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| 35 | Separated, /* Shapes doesnt penetrate */ |
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| 36 | Penetrating, /* Shapes are penetrating */ |
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| 37 | GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */ |
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| 38 | EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */ |
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| 39 | } status; |
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| 40 | btVector3 witnesses[2]; |
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| 41 | btVector3 normal; |
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| 42 | btScalar depth; |
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| 43 | int epa_iterations; |
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| 44 | int gjk_iterations; |
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| 45 | }; |
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| 46 | static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0, |
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| 47 | const btConvexShape* shape1,const btTransform& wtrs1, |
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| 48 | btScalar radialmargin, |
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| 49 | btStackAlloc* stackAlloc, |
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| 50 | sResults& results); |
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| 51 | }; |
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| 52 | |
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| 53 | #endif |
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