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