SpuMinkowskiPenetrationDepthSolver.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 #ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00018 #define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00019 
00020 
00021 #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
00022 
00023 class btStackAlloc;
00024 class btIDebugDraw;
00025 class btVoronoiSimplexSolver;
00026 class btConvexShape;
00027 
00030 class SpuMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
00031 {
00032 public:
00033         SpuMinkowskiPenetrationDepthSolver() {}
00034         virtual ~SpuMinkowskiPenetrationDepthSolver() {};
00035 
00036                 virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
00037                 const btConvexShape* convexA,const btConvexShape* convexB,
00038                                         const btTransform& transA,const btTransform& transB,
00039                                 btVector3& v, btVector3& pa, btVector3& pb,
00040                                 class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
00041                                 );
00042 
00043 
00044 };
00045 
00046 
00047 #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00048