| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
| |
| EPA Copyright (c) Ricardo Padrela 2006 |
| |
| 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. |
| */ |
| |
| #include "BulletCollision/CollisionShapes/btConvexShape.h" |
| #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h" |
| |
| |
| #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h" |
| |
| bool btGjkEpaPenetrationDepthSolver::calcPenDepth( btSimplexSolverInterface& simplexSolver, |
| const btConvexShape* pConvexA, const btConvexShape* pConvexB, |
| const btTransform& transformA, const btTransform& transformB, |
| btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB, |
| class btIDebugDraw* debugDraw, btStackAlloc* stackAlloc ) |
| { |
| |
| (void)debugDraw; |
| (void)v; |
| (void)simplexSolver; |
| |
| // const btScalar radialmargin(btScalar(0.)); |
| |
| btVector3 guessVector(transformA.getOrigin()-transformB.getOrigin()); |
| btGjkEpaSolver2::sResults results; |
| |
| |
| if(btGjkEpaSolver2::Penetration(pConvexA,transformA, |
| pConvexB,transformB, |
| guessVector,results)) |
| |
| { |
| // debugDraw->drawLine(results.witnesses[1],results.witnesses[1]+results.normal,btVector3(255,0,0)); |
| //resultOut->addContactPoint(results.normal,results.witnesses[1],-results.depth); |
| wWitnessOnA = results.witnesses[0]; |
| wWitnessOnB = results.witnesses[1]; |
| v = results.normal; |
| return true; |
| } else |
| { |
| if(btGjkEpaSolver2::Distance(pConvexA,transformA,pConvexB,transformB,guessVector,results)) |
| { |
| wWitnessOnA = results.witnesses[0]; |
| wWitnessOnB = results.witnesses[1]; |
| v = results.normal; |
| return false; |
| } |
| } |
| |
| return false; |
| } |
| |
| |