67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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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 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 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 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.
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2. Altered source versions must be plainly marked as such, and must not be 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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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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#include "btGjkEpaPenetrationDepthSolver.h"
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#include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
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bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw)
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{
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(void)debugDraw;
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(void)v;
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(void)simplexSolver;
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// const btScalar radialmargin(btScalar(0.));
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btVector3 guessVector(transformB.getOrigin()-transformA.getOrigin());
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btGjkEpaSolver2::sResults results;
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if(btGjkEpaSolver2::Penetration(pConvexA,transformA,
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pConvexB,transformB,
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guessVector,results))
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{
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// debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0));
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//resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth);
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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v = results.normal;
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return true;
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} else
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{
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if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results))
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{
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wWitnessOnA = results.witnesses[0];
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wWitnessOnB = results.witnesses[1];
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v = results.normal;
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return false;
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}
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}
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return false;
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}
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