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Bullet/NarrowPhaseCollision/EpaPenetrationDepthSolver.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+EPA Copyright (c) Ricardo Padrela 2006 
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+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
+
+/**
+*	EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
+*	calculate the penetration depth between two convex shapes.
+*/
+
+extern SimdScalar	g_GJKMaxRelError;
+extern SimdScalar	g_GJKMaxRelErrorSqrd;
+
+//! Note : This class is not supposed to be a base class
+class EpaPenetrationDepthSolver : public ConvexPenetrationDepthSolver
+{
+	public :
+
+		bool			CalcPenDepth( SimplexSolverInterface& simplexSolver,
+									  ConvexShape* pConvexA, ConvexShape* pConvexB,
+									  const SimdTransform& transformA, const SimdTransform& transformB,
+									  SimdVector3& v, SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB,
+									  class IDebugDraw* debugDraw );
+
+	private :
+
+#ifdef EPA_USE_HYBRID
+		bool			HybridPenDepth( SimplexSolverInterface& simplexSolver,
+										ConvexShape* pConvexA, ConvexShape* pConvexB,
+										const SimdTransform& transformA, const SimdTransform& transformB,
+										SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB,
+										SimdScalar& penDepth, SimdVector3& v );
+#endif
+
+		SimdScalar		EpaPenDepth( SimplexSolverInterface& simplexSolver,
+									 ConvexShape* pConvexA, ConvexShape* pConvexB,
+									 const SimdTransform& transformA, const SimdTransform& transformB,
+									 SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB );
+};
+
+#endif	// EPA_PENETRATION_DEPTH_H
+