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00018 #ifndef SPU_CONVEX_PENETRATION_DEPTH_H
00019 #define SPU_CONVEX_PENETRATION_DEPTH_H
00020
00021
00022
00023 class btStackAlloc;
00024 class btIDebugDraw;
00025 #include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
00026
00027 #include "LinearMath/btTransform.h"
00028
00029
00031 class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
00032 {
00033 public:
00034
00035 virtual ~SpuConvexPenetrationDepthSolver() {};
00036 virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
00037 void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
00038 btTransform& transA,const btTransform& transB,
00039 btVector3& v, btVector3& pa, btVector3& pb,
00040 class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
00041 struct SpuConvexPolyhedronVertexData* convexVertexDataA,
00042 struct SpuConvexPolyhedronVertexData* convexVertexDataB
00043 ) const = 0;
00044
00045
00046 };
00047
00048
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00050 #endif //SPU_CONVEX_PENETRATION_DEPTH_H
00051