67 lines
2.1 KiB
C++
67 lines
2.1 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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EPA Copyright (c) Ricardo Padrela 2006
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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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#ifndef EPA_H
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#define EPA_H
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#define EPA_MAX_FACE_ENTRIES 256
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extern const SimdScalar EPA_MAX_RELATIVE_ERROR;
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extern const SimdScalar EPA_MAX_RELATIVE_ERROR_SQRD;
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class Epa
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{
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private :
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//! Prevents copying objects from this class
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Epa( const Epa& epa );
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const Epa& operator = ( const Epa& epa );
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public :
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Epa( ConvexShape* pConvexShapeA, ConvexShape* pConvexShapeB,
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const SimdTransform& transformA, const SimdTransform& transformB );
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~Epa();
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bool Initialize( SimplexSolverInterface& simplexSolver );
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SimdScalar CalcPenDepth( SimdPoint3& wWitnessOnA, SimdPoint3& wWitnessOnB );
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private :
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bool TetrahedronContainsOrigin( SimdPoint3* pPoints );
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bool TetrahedronContainsOrigin( const SimdPoint3& point0, const SimdPoint3& point1,
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const SimdPoint3& point2, const SimdPoint3& point3 );
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private :
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//! Priority queue
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std::vector< EpaFace* > m_faceEntries;
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ConvexShape* m_pConvexShapeA;
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ConvexShape* m_pConvexShapeB;
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SimdTransform m_transformA;
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SimdTransform m_transformB;
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EpaPolyhedron m_polyhedron;
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};
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extern bool CompareEpaFaceEntries( EpaFace* pFaceA, EpaFace* pFaceB );
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#endif
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