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https://github.com/bulletphysics/bullet3
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38 lines
1.6 KiB
C++
38 lines
1.6 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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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 MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#include "ConvexPenetrationDepthSolver.h"
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///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
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///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
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class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver
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{
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public:
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virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
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ConvexShape* convexA,ConvexShape* convexB,
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const SimdTransform& transA,const SimdTransform& transB,
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SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb,
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class IDebugDraw* debugDraw
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);
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};
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#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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