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Added new EPA penetration depth solver

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improved gjk/minkowski sampling pd method
added original solver variant, use btSequentialImpulseConstraintSolver2
Added Pierre Terdimans PD testbed
This commit is contained in:
ejcoumans
2006-11-16 06:14:12 +00:00
parent 25f3d00f01
commit b07bb88a2d
9 changed files with 858 additions and 708 deletions
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1320
src/BulletCollision/NarrowPhaseCollision/btGjkEpa.cpp
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6
src/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
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@@ -14,8 +14,8 @@ subject to the following restrictions:
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef EPA_PENETRATION_DEPTH_H
#define EPA_PENETRATION_DEPTH_H
#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
#define BT_GJP_EPA_PENETRATION_DEPTH_H
#include "btConvexPenetrationDepthSolver.h"
@@ -35,5 +35,5 @@ class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
};
#endif // EPA_PENETRATION_DEPTH_H
#endif // BT_GJP_EPA_PENETRATION_DEPTH_H