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- /*
- Bullet Continuous Collision Detection and Physics Library
- Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
- EPA Copyright (c) Ricardo Padrela 2006
- This software is provided 'as-is', without any express or implied warranty.
- In no event will the authors be held liable for any damages arising from the use of this software.
- Permission is granted to anyone to use this software for any purpose,
- including commercial applications, and to alter it and redistribute it freely,
- subject to the following restrictions:
- 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.
- 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
- 3. This notice may not be removed or altered from any source distribution.
- */
- #ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
- #define BT_GJP_EPA_PENETRATION_DEPTH_H
- #include "btConvexPenetrationDepthSolver.h"
- ///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
- ///calculate the penetration depth between two convex shapes.
- class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
- {
- public:
- btGjkEpaPenetrationDepthSolver()
- {
- }
- bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
- const btConvexShape* pConvexA, const btConvexShape* pConvexB,
- const btTransform& transformA, const btTransform& transformB,
- btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
- class btIDebugDraw* debugDraw);
- private:
- };
- #endif // BT_GJP_EPA_PENETRATION_DEPTH_H
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