Bullet Collision Detection & Physics Library: btConvexPenetrationDepthSolver.h Source File

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btConvexPenetrationDepthSolver.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16
17 #ifndef BT_CONVEX_PENETRATION_DEPTH_H
18 #define BT_CONVEX_PENETRATION_DEPTH_H
19
20 class btVector3;
21 #include "btSimplexSolverInterface.h"
22 class btConvexShape;
23 class btTransform;
24
26 class btConvexPenetrationDepthSolver
27 {
28 public:
29
30 virtual ~btConvexPenetrationDepthSolver() {};
31 virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
32 const btConvexShape* convexA,const btConvexShape* convexB,
33 const btTransform& transA,const btTransform& transB,
34 btVector3& v, btVector3& pa, btVector3& pb,
35 class btIDebugDraw* debugDraw) = 0;
36
37
38 };
39 #endif //BT_CONVEX_PENETRATION_DEPTH_H
40
btConvexPenetrationDepthSolver
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
Definition: btConvexPenetrationDepthSolver.h:26
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btConvexPenetrationDepthSolver::calcPenDepth
virtual bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *convexA, const btConvexShape *convexB, const btTransform &transA, const btTransform &transB, btVector3 &v, btVector3 &pa, btVector3 &pb, class btIDebugDraw *debugDraw)=0
btConvexPenetrationDepthSolver::~btConvexPenetrationDepthSolver
virtual ~btConvexPenetrationDepthSolver()
Definition: btConvexPenetrationDepthSolver.h:30
btSimplexSolverInterface
#define btSimplexSolverInterface
Definition: btSimplexSolverInterface.h:26
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btSimplexSolverInterface.h