1 files changed, 71 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h b/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h
new file mode 100644
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+++ b/extern/bullet/Bullet/NarrowPhaseCollision/BU_EdgeEdge.h
@@ -0,0 +1,71 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+
+#ifndef BU_EDGEEDGE
+#define BU_EDGEEDGE
+
+class BU_Screwing;
+#include <SimdTransform.h>
+#include <SimdPoint3.h>
+#include <SimdVector3.h>
+
+//class BUM_Point2;
+
+#include <SimdScalar.h>
+
+///BU_EdgeEdge implements algebraic time of impact calculation between two (angular + linear) moving edges.
+class BU_EdgeEdge
+{
+public:
+	
+
+	BU_EdgeEdge();
+	bool GetTimeOfImpact(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+		);
+private:
+
+	bool Calc2DRotationPointPoint(const SimdPoint3& rotPt, SimdScalar rotRadius, SimdScalar rotW,const SimdPoint3& intersectPt,SimdScalar& minTime);
+	bool GetTimeOfImpactGeneralCase(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+	
+	bool GetTimeOfImpactVertexEdge(
+		const BU_Screwing& screwAB,
+		const SimdPoint3& a,//edge in object A
+		const SimdVector3& u,
+		const SimdPoint3& c,//edge in object B
+		const SimdVector3& v,
+		SimdScalar &minTime,
+		SimdScalar &lamda,
+		SimdScalar& mu
+
+		);
+
+};
+
+#endif //BU_EDGEEDGE