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Viewing changes to tests/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
 
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/*
 
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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 BT_GJP_EPA_PENETRATION_DEPTH_H
 
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#define BT_GJP_EPA_PENETRATION_DEPTH_H
 
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#include "btConvexPenetrationDepthSolver.h"
 
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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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class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
 
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{
 
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        public :
 
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                btGjkEpaPenetrationDepthSolver()
 
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                {
 
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                }
 
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                bool                    calcPenDepth( btSimplexSolverInterface& simplexSolver,
 
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                                                                          const btConvexShape* pConvexA, const btConvexShape* pConvexB,
 
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                                                                          const btTransform& transformA, const btTransform& transformB,
 
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                                                                          btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
 
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                                                                          class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
 
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        private :
 
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};
 
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#endif  // BT_GJP_EPA_PENETRATION_DEPTH_H
 
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