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source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h @ 7930

Last change on this file since 7930 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 2.5 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2008 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
7use of this software.
8Permission is granted to anyone to use this software for any purpose,
9including commercial applications, and to alter it and redistribute it
10freely,
11subject to the following restrictions:
12
131. The origin of this software must not be misrepresented; you must not
14claim that you wrote the original software. If you use this software in a
15product, an acknowledgment in the product documentation would be appreciated
16but is not required.
172. Altered source versions must be plainly marked as such, and must not be
18misrepresented as being the original software.
193. This notice may not be removed or altered from any source distribution.
20*/
21
22/*
23GJK-EPA collision solver by Nathanael Presson, 2008
24*/
25#ifndef _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
26#define _68DA1F85_90B7_4bb0_A705_83B4040A75C6_
27#include "BulletCollision/CollisionShapes/btConvexShape.h"
28
29///btGjkEpaSolver contributed under zlib by Nathanael Presson
30struct  btGjkEpaSolver2
31{
32struct  sResults
33        {
34        enum eStatus
35                {
36                Separated,              /* Shapes doesnt penetrate                                                                                              */ 
37                Penetrating,    /* Shapes are penetrating                                                                                               */ 
38                GJK_Failed,             /* GJK phase fail, no big issue, shapes are probably just 'touching'    */ 
39                EPA_Failed              /* EPA phase fail, bigger problem, need to save parameters, and debug   */ 
40                }               status;
41        btVector3       witnesses[2];
42        btVector3       normal;
43        btScalar        distance;
44        };
45
46static int              StackSizeRequirement();
47
48static bool             Distance(       const btConvexShape* shape0,const btTransform& wtrs0,
49                                                        const btConvexShape* shape1,const btTransform& wtrs1,
50                                                        const btVector3& guess,
51                                                        sResults& results);
52
53static bool             Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
54                                                        const btConvexShape* shape1,const btTransform& wtrs1,
55                                                        const btVector3& guess,
56                                                        sResults& results,
57                                                        bool usemargins=true);
58
59static btScalar SignedDistance( const btVector3& position,
60                                                                btScalar margin,
61                                                                const btConvexShape* shape,
62                                                                const btTransform& wtrs,
63                                                                sResults& results);
64                                                       
65static bool             SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
66                                                                const btConvexShape* shape1,const btTransform& wtrs1,
67                                                                const btVector3& guess,
68                                                                sResults& results);
69};
70
71#endif
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