80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the
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use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software in a
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product, an acknowledgment in the product documentation would be appreciated
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but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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/*
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GJK-EPA collision solver by Nathanael Presson, 2008
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*/
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#ifndef B3_GJK_EPA2_H
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#define B3_GJK_EPA2_H
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h"
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct b3GjkEpaSolver2
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{
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struct sResults
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{
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enum eStatus
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{
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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b3Vector3 witnesses[2];
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b3Vector3 normal;
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b3Scalar distance;
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};
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static int StackSizeRequirement();
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static bool Distance(const b3Transform& transA, const b3Transform& transB,
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const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
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const b3AlignedObjectArray<b3Vector3>& verticesA,
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const b3AlignedObjectArray<b3Vector3>& verticesB,
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const b3Vector3& guess,
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sResults& results);
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static bool Penetration(const b3Transform& transA, const b3Transform& transB,
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const b3ConvexPolyhedronData* hullA, const b3ConvexPolyhedronData* hullB,
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const b3AlignedObjectArray<b3Vector3>& verticesA,
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const b3AlignedObjectArray<b3Vector3>& verticesB,
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const b3Vector3& guess,
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sResults& results,
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bool usemargins = true);
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#if 0
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static b3Scalar SignedDistance( const b3Vector3& position,
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b3Scalar margin,
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const btConvexShape* shape,
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const btTransform& wtrs,
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sResults& results);
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static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const b3Vector3& guess,
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sResults& results);
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#endif
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};
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#endif //B3_GJK_EPA2_H
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