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source: code/branches/questsystem5/src/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h @ 2997

Last change on this file since 2997 was 2662, checked in by rgrieder, 16 years ago

Merged presentation branch back to trunk.

  • Property svn:eol-style set to native
File size: 1.7 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
17#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
18
19#include "btConvexPenetrationDepthSolver.h"
20
21///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
22///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
23class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
24{
25public:
26
27        virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
28        const btConvexShape* convexA,const btConvexShape* convexB,
29                                const btTransform& transA,const btTransform& transB,
30                        btVector3& v, btVector3& pa, btVector3& pb,
31                        class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
32                        );
33};
34
35#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
36
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