btMinkowskiPenetrationDepthSolver.h
Go to the documentation of this file.00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H 00017 #define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H 00018 00019 #include "btConvexPenetrationDepthSolver.h" 00020 00023 class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver 00024 { 00025 protected: 00026 00027 static btVector3* getPenetrationDirections(); 00028 00029 public: 00030 00031 virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver, 00032 const btConvexShape* convexA,const btConvexShape* convexB, 00033 const btTransform& transA,const btTransform& transB, 00034 btVector3& v, btVector3& pa, btVector3& pb, 00035 class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc 00036 ); 00037 }; 00038 00039 #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H 00040