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btGjkEpaPenetrationDepthSolver.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 EPA Copyright (c) Ricardo Padrela 2006 
00006 
00007 This software is provided 'as-is', without any express or implied warranty.
00008 In no event will the authors be held liable for any damages arising from the use of this software.
00009 Permission is granted to anyone to use this software for any purpose, 
00010 including commercial applications, and to alter it and redistribute it freely, 
00011 subject to the following restrictions:
00012 
00013 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.
00014 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00015 3. This notice may not be removed or altered from any source distribution.
00016 */
00017 #ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
00018 #define BT_GJP_EPA_PENETRATION_DEPTH_H
00019 
00020 #include "btConvexPenetrationDepthSolver.h"
00021 
00024 class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
00025 {
00026        public :
00027 
00028               bool                 calcPenDepth( btSimplexSolverInterface& simplexSolver,
00029                                                                  const btConvexShape* pConvexA, const btConvexShape* pConvexB,
00030                                                                  const btTransform& transformA, const btTransform& transformB,
00031                                                                  btVector3& v, btPoint3& wWitnessOnA, btPoint3& wWitnessOnB,
00032                                                                  class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
00033 
00034        private :
00035 
00036 };
00037 
00038 #endif // BT_GJP_EPA_PENETRATION_DEPTH_H
00039