[1966] | 1 | |
---|
| 2 | /* |
---|
| 3 | Bullet Continuous Collision Detection and Physics Library |
---|
| 4 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
---|
| 5 | |
---|
| 6 | This software is provided 'as-is', without any express or implied warranty. |
---|
| 7 | In no event will the authors be held liable for any damages arising from the use of this software. |
---|
| 8 | Permission is granted to anyone to use this software for any purpose, |
---|
| 9 | including commercial applications, and to alter it and redistribute it freely, |
---|
| 10 | subject to the following restrictions: |
---|
| 11 | |
---|
| 12 | 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. |
---|
| 13 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
---|
| 14 | 3. This notice may not be removed or altered from any source distribution. |
---|
| 15 | */ |
---|
| 16 | |
---|
| 17 | |
---|
| 18 | #ifndef CONVEX_PENETRATION_DEPTH_H |
---|
| 19 | #define CONVEX_PENETRATION_DEPTH_H |
---|
| 20 | |
---|
| 21 | |
---|
| 22 | |
---|
| 23 | class btStackAlloc; |
---|
| 24 | class btIDebugDraw; |
---|
| 25 | class SpuVoronoiSimplexSolver; |
---|
| 26 | |
---|
| 27 | #include <LinearMath/btTransform.h> |
---|
| 28 | #include <LinearMath/btPoint3.h> |
---|
| 29 | |
---|
| 30 | |
---|
| 31 | ///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation. |
---|
| 32 | class SpuConvexPenetrationDepthSolver |
---|
| 33 | { |
---|
| 34 | public: |
---|
| 35 | |
---|
| 36 | virtual ~SpuConvexPenetrationDepthSolver() {}; |
---|
| 37 | virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver, |
---|
| 38 | void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB, |
---|
| 39 | btTransform& transA,const btTransform& transB, |
---|
| 40 | btVector3& v, btPoint3& pa, btPoint3& pb, |
---|
| 41 | class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc, |
---|
| 42 | struct SpuConvexPolyhedronVertexData* convexVertexDataA, |
---|
| 43 | struct SpuConvexPolyhedronVertexData* convexVertexDataB |
---|
| 44 | ) const = 0; |
---|
| 45 | |
---|
| 46 | |
---|
| 47 | }; |
---|
| 48 | |
---|
| 49 | |
---|
| 50 | |
---|
| 51 | #endif //CONVEX_PENETRATION_DEPTH_H |
---|
| 52 | |
---|