mirror of
https://github.com/bulletphysics/bullet3
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57 lines
2.4 KiB
C++
57 lines
2.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef EPA_PENETRATION_DEPTH_H
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#define EPA_PENETRATION_DEPTH_H
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/**
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* EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
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* calculate the penetration depth between two convex shapes.
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*/
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extern btScalar g_GJKMaxRelError;
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extern btScalar g_GJKMaxRelErrorSqrd;
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//! Note : This class is not supposed to be a base class
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class EpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public :
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bool CalcPenDepth( btSimplexSolverInterface& simplexSolver,
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btConvexShape* pConvexA, btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
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class btIDebugDraw* debugDraw );
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private :
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#ifdef EPA_USE_HYBRID
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bool HybridPenDepth( btSimplexSolverInterface& simplexSolver,
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btConvexShape* pConvexA, btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
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btScalar& penDepth, btVector3& v );
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#endif
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btScalar EpaPenDepth( btSimplexSolverInterface& simplexSolver,
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btConvexShape* pConvexA, btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btPoint3& wWitnessOnA, btPoint3& wWitnessOnB );
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};
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#endif // EPA_PENETRATION_DEPTH_H
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