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00018 #include "BulletCollision/CollisionShapes/btConvexShape.h"
00019 #include "btGjkEpaPenetrationDepthSolver.h"
00020
00021
00022 #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
00023
00024 bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
00025 const btConvexShape* pConvexA, const btConvexShape* pConvexB,
00026 const btTransform& transformA, const btTransform& transformB,
00027 btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
00028 class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc )
00029 {
00030
00031 (void)debugDraw;
00032 (void)v;
00033 (void)simplexSolver;
00034
00035
00036
00037 btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin());
00038 btGjkEpaSolver2::sResults results;
00039
00040
00041 if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
00042 pConvexB,transformB,
00043 guessVector,results))
00044
00045 {
00046
00047
00048 wWitnessOnA = results.witnesses[0];
00049 wWitnessOnB = results.witnesses[1];
00050 v = results.normal;
00051 return true;
00052 } else
00053 {
00054 if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
00055 {
00056 wWitnessOnA = results.witnesses[0];
00057 wWitnessOnB = results.witnesses[1];
00058 v = results.normal;
00059 return false;
00060 }
00061 }
00062
00063 return false;
00064 }
00065
00066