/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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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
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* the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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package com.bulletphysics.collision.narrowphase;
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import com.bulletphysics.collision.shapes.ConvexShape;
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import com.bulletphysics.linearmath.IDebugDraw;
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import com.bulletphysics.linearmath.Transform;
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import javax.vecmath.Vector3f;
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/**
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* GjkEpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to calculate
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* the penetration depth between two convex shapes.
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*
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* @author jezek2
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*/
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public class GjkEpaPenetrationDepthSolver extends ConvexPenetrationDepthSolver {
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private GjkEpaSolver gjkEpaSolver = new GjkEpaSolver();
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public boolean calcPenDepth(SimplexSolverInterface simplexSolver,
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ConvexShape pConvexA, ConvexShape pConvexB,
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Transform transformA, Transform transformB,
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Vector3f v, Vector3f wWitnessOnA, Vector3f wWitnessOnB,
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IDebugDraw debugDraw/*, btStackAlloc* stackAlloc*/)
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{
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float radialmargin = 0f;
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// JAVA NOTE: 2.70b1: update when GjkEpaSolver2 is ported
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GjkEpaSolver.Results results = new GjkEpaSolver.Results();
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if (gjkEpaSolver.collide(pConvexA, transformA,
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pConvexB, transformB,
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radialmargin/*,stackAlloc*/, results)) {
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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.set(results.witnesses[0]);
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wWitnessOnB.set(results.witnesses[1]);
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return true;
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}
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return false;
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}
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}
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