17 #ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
18 #define BT_GJP_EPA_PENETRATION_DEPTH_H
ATTR_WARN_UNUSED_RESULT const BMVert * v
btConvexShape()
not supported on IBM SDK, until we fix the alignment of btVector3
void debugDraw(btIDebugDraw *debugDrawer)
btActionInterface interface
#define btSimplexSolverInterface
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
btGjkEpaPenetrationDepthSolver()
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)