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

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btMinkowskiPenetrationDepthSolver.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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{
25protected:
26 static btVector3* getPenetrationDirections();
27
28public:
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
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:24
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:27
btMinkowskiPenetrationDepthSolver
MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
Definition: btMinkowskiPenetrationDepthSolver.h:24
btMinkowskiPenetrationDepthSolver::getPenetrationDirections
static btVector3 * getPenetrationDirections()
Definition: btMinkowskiPenetrationDepthSolver.cpp:288
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
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