54 lines
2.0 KiB
C++
54 lines
2.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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/*
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GJK-EPA collision solver by Nathanael Presson
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Nov.2006
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*/
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#ifndef _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#define _05E48D53_04E0_49ad_BB0A_D74FE62E7366_
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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class btStackAlloc;
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver
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{
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struct sResults
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{
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enum eStatus
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{
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed, /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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btVector3 witnesses[2];
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btVector3 normal;
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btScalar depth;
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int epa_iterations;
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int gjk_iterations;
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};
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static bool Collide(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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btScalar radialmargin,
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btStackAlloc* stackAlloc,
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sResults& results);
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};
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#endif
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