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