forked from bartvdbraak/blender
20 lines
701 B
C
20 lines
701 B
C
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#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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#include "ConvexPenetrationDepthSolver.h"
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///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
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///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
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class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver
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{
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public:
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virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
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ConvexShape* convexA,ConvexShape* convexB,
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const SimdTransform& transA,const SimdTransform& transB,
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SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);
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};
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#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
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