SpuConvexPenetrationDepthSolver.h

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00001 
00002 /*
00003 Bullet Continuous Collision Detection and Physics Library
00004 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00005 
00006 This software is provided 'as-is', without any express or implied warranty.
00007 In no event will the authors be held liable for any damages arising from the use of this software.
00008 Permission is granted to anyone to use this software for any purpose, 
00009 including commercial applications, and to alter it and redistribute it freely, 
00010 subject to the following restrictions:
00011 
00012 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.
00013 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00014 3. This notice may not be removed or altered from any source distribution.
00015 */
00016 
00017 
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 
00049 
00050 #endif //SPU_CONVEX_PENETRATION_DEPTH_H
00051