2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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2021-12-20 18:52:45 +08:00
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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2020-11-16 14:47:43 +08:00
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EPA Copyright (c) Ricardo Padrela 2006
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
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#define BT_GJP_EPA_PENETRATION_DEPTH_H
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#include "btConvexPenetrationDepthSolver.h"
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///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
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///calculate the penetration depth between two convex shapes.
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class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public:
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btGjkEpaPenetrationDepthSolver()
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{
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}
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bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw);
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private:
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};
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#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
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