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btConvexPenetrationDepthSolver.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 
00017 #ifndef CONVEX_PENETRATION_DEPTH_H
00018 #define CONVEX_PENETRATION_DEPTH_H
00019 
00020 class btStackAlloc;
00021 class btVector3;
00022 #include "btSimplexSolverInterface.h"
00023 class btConvexShape;
00024 #include "LinearMath/btPoint3.h"
00025 class btTransform;
00026 
00028 class btConvexPenetrationDepthSolver
00029 {
00030 public:       
00031        
00032        virtual ~btConvexPenetrationDepthSolver() {};
00033        virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
00034               const btConvexShape* convexA,const btConvexShape* convexB,
00035                                    const btTransform& transA,const btTransform& transB,
00036                             btVector3& v, btPoint3& pa, btPoint3& pb,
00037                             class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
00038                             ) = 0;
00039 
00040 
00041 };
00042 #endif //CONVEX_PENETRATION_DEPTH_H
00043