38 lines
1.8 KiB
C++
38 lines
1.8 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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#include "SpuEpaPenetrationDepthSolver.h"
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#include "SpuVoronoiSimplexSolver.h"
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#include "SpuGjkPairDetector.h"
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#include "SpuContactResult.h"
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#include "SpuGjkEpa2.h"
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bool SpuEpaPenetrationDepthSolver::calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
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void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
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btTransform& transA,const btTransform& transB,
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btVector3& v, btPoint3& pa, btPoint3& pb,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc,
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struct SpuConvexPolyhedronVertexData* convexVertexDataA,
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struct SpuConvexPolyhedronVertexData* convexVertexDataB
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) const
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{
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bool r;
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SpuGjkEpaSolver2::sResults results;
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r = SpuGjkEpaSolver2::Penetration (convexA, convexVertexDataA, shapeTypeA, marginA, transA, convexB, convexVertexDataB, shapeTypeB, marginB, transB, btVector3(1.0f, 0.0f, 0.0f), results);
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pa = results.witnesses[0];
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pb = results.witnesses[1];
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return r;
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}
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