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Extras/ExtraSolid35/Solid3EpaPenetrationDepth.h

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+/*
+ * SOLID - Software Library for Interference Detection
+ * 
+ * Copyright (C) 2001-2003  Dtecta.  All rights reserved.
+ *
+ * This library may be distributed under the terms of the Q Public License
+ * (QPL) as defined by Trolltech AS of Norway and appearing in the file
+ * LICENSE.QPL included in the packaging of this file.
+ *
+ * This library may be distributed and/or modified under the terms of the
+ * GNU General Public License (GPL) version 2 as published by the Free Software
+ * Foundation and appearing in the file LICENSE.GPL included in the
+ * packaging of this file.
+ *
+ * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
+ * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * Commercial use or any other use of this library not covered by either 
+ * the QPL or the GPL requires an additional license from Dtecta. 
+ * Please contact info@dtecta.com for enquiries about the terms of commercial
+ * use of this library.
+ */
+
+#ifndef SOLID3_EPA_PENETRATION_DEPTH_H
+#define SOLID3_EPA_PENETRATION_DEPTH_H
+
+
+#include "NarrowPhaseCollision/ConvexPenetrationDepthSolver.h"
+
+/// Solid3EpaPenetrationDepth contains the 'Expanding Polytope Algorithm' from Solid 3.5
+class Solid3EpaPenetrationDepth : public ConvexPenetrationDepthSolver
+{
+public:
+
+	virtual bool CalcPenDepth(SimplexSolverInterface& simplexSolver,
+		ConvexShape* convexA,ConvexShape* convexB,
+		const SimdTransform& transformA,const SimdTransform& transformB,
+				SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);
+
+};
+
+#endif //SOLID3_EPA_PENETRATION_DEPTH_H