Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h (modified) (2 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h

@@ -37 +37 @@
         const btConvexShape* m_minkowskiA;
         const btConvexShape* m_minkowskiB;
+        int     m_shapeTypeA;
+        int m_shapeTypeB;
+        btScalar        m_marginA;
+        btScalar        m_marginB;
+
         bool            m_ignoreMargin;
         btScalar        m_cachedSeparatingDistance;
@@ -51 +56 @@
 
         btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*     penetrationDepthSolver);
+        btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver*   penetrationDepthSolver);
         virtual ~btGjkPairDetector() {};
 
         virtual void    getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+
+        void    getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
+        
 
         void setMinkowskiA(btConvexShape* minkA)