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btMinkowskiPenetrationDepthSolver.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 #ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00017 #define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00018 
00019 #include "btConvexPenetrationDepthSolver.h"
00020 
00023 class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
00024 {
00025 public:
00026 
00027        virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
00028        const btConvexShape* convexA,const btConvexShape* convexB,
00029                             const btTransform& transA,const btTransform& transB,
00030                      btVector3& v, btPoint3& pa, btPoint3& pb,
00031                      class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
00032                      );
00033 
00034 };
00035 
00036 #endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
00037