GEEKING

App.BulletPhysics/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h

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+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef SPU_CONVEX_PENETRATION_DEPTH_H
+#define SPU_CONVEX_PENETRATION_DEPTH_H
+
+
+
+class btIDebugDraw;
+#include "BulletCollision/NarrowphaseCollision/btConvexPenetrationDepthSolver.h"
+
+#include "LinearMath/btTransform.h"
+
+
+///ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
+class SpuConvexPenetrationDepthSolver : public btConvexPenetrationDepthSolver
+{
+public:	
+	
+	virtual ~SpuConvexPenetrationDepthSolver() {};
+	virtual bool calcPenDepth( SpuVoronoiSimplexSolver& simplexSolver,
+	        void* convexA,void* convexB,int shapeTypeA, int shapeTypeB, float marginA, float marginB,
+            btTransform& transA,const btTransform& transB,
+			btVector3& v, btVector3& pa, btVector3& pb,
+			class btIDebugDraw* debugDraw,
+			struct SpuConvexPolyhedronVertexData* convexVertexDataA,
+			struct SpuConvexPolyhedronVertexData* convexVertexDataB
+			) const = 0;
+
+
+};
+
+
+
+#endif //SPU_CONVEX_PENETRATION_DEPTH_H
+