~siretart/ubuntu/utopic/blender/libav10

 

#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H

#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H

 

#include "ConvexPenetrationDepthSolver.h"

 

///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.

///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.

class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver

{

public:

 

        virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,

        ConvexShape* convexA,ConvexShape* convexB,

                                const SimdTransform& transA,const SimdTransform& transB,

                        SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);

 

};

 

#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H