42 lines
1.6 KiB
C++
42 lines
1.6 KiB
C++
/*
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* SOLID - Software Library for Interference Detection
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*
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* Copyright (C) 2001-2003 Dtecta. All rights reserved.
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*
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* This library may be distributed under the terms of the Q Public License
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* (QPL) as defined by Trolltech AS of Norway and appearing in the file
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* LICENSE.QPL included in the packaging of this file.
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*
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* This library may be distributed and/or modified under the terms of the
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* GNU bteral Public License (GPL) version 2 as published by the Free Software
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* Foundation and appearing in the file LICENSE.GPL included in the
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* packaging of this file.
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*
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* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
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*
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* Commercial use or any other use of this library not covered by either
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* the QPL or the GPL requires an additional license from Dtecta.
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* Please contact info@dtecta.com for enquiries about the terms of commercial
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* use of this library.
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*/
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#ifndef SOLID3_EPA_PENETRATION_DEPTH_H
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#define SOLID3_EPA_PENETRATION_DEPTH_H
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#include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
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/// Solid3EpaPenetrationDepth contains the 'Expanding Polytope Algorithm' from Solid 3.5
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class Solid3EpaPenetrationDepth : public btConvexPenetrationDepthSolver
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{
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public:
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virtual bool CalcPenDepth(btSimplexSolverInterface& simplexSolver,
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btConvexShape* convexA,btConvexShape* convexB,
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const btTransform& transformA,const btTransform& transformB,
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btVector3& v, btPoint3& pa, btPoint3& pb);
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};
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#endif //SOLID3_EPA_PENETRATION_DEPTH_H
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