Bullet Collision Detection & Physics Library: btMinkowskiPenetrationDepthSolver.h Source File

Bullet Collision Detection & Physics Library

btMinkowskiPenetrationDepthSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
17 #define BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
18
19 #include "btConvexPenetrationDepthSolver.h"
20
23 class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
24 {
25 protected:
26 static btVector3* getPenetrationDirections();
27
28 public:
29 virtual bool calcPenDepth(btSimplexSolverInterface& simplexSolver,
30 const btConvexShape* convexA, const btConvexShape* convexB,
31 const btTransform& transA, const btTransform& transB,
32 btVector3& v, btVector3& pa, btVector3& pb,
33 class btIDebugDraw* debugDraw);
34 };
35
36 #endif //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
btConvexPenetrationDepthSolver.h
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btMinkowskiPenetrationDepthSolver::calcPenDepth
virtual bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw)
Definition: btMinkowskiPenetrationDepthSolver.cpp:24
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btMinkowskiPenetrationDepthSolver
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
Definition: btMinkowskiPenetrationDepthSolver.h:24
btMinkowskiPenetrationDepthSolver::getPenetrationDirections
static btVector3 * getPenetrationDirections()
Definition: btMinkowskiPenetrationDepthSolver.cpp:288
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24