1 files changed, 60 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
new file mode 100644
index 00000000000..ad9e41682bf
--- /dev/null
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/GjkPairDetector.h
@@ -0,0 +1,60 @@
+/*
+ * 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 GJK_PAIR_DETECTOR_H
+#define GJK_PAIR_DETECTOR_H
+
+#include "DiscreteCollisionDetectorInterface.h"
+#include "SimdPoint3.h"
+
+#include "CollisionMargin.h"
+
+class ConvexShape;
+#include "SimplexSolverInterface.h"
+class ConvexPenetrationDepthSolver;
+
+/// GjkPairDetector uses GJK to implement the DiscreteCollisionDetectorInterface
+class GjkPairDetector : public DiscreteCollisionDetectorInterface
+{
+	
+
+	SimdVector3	m_cachedSeparatingAxis;
+	ConvexPenetrationDepthSolver*	m_penetrationDepthSolver;
+	SimplexSolverInterface* m_simplexSolver;
+	ConvexShape* m_minkowskiA;
+	ConvexShape* m_minkowskiB;
+
+public:
+
+	GjkPairDetector(ConvexShape* objectA,ConvexShape* objectB,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver*	penetrationDepthSolver);
+	virtual ~GjkPairDetector() {};
+
+	virtual void	GetClosestPoints(const ClosestPointInput& input,Result& output);
+
+	void SetMinkowskiA(ConvexShape* minkA)
+	{
+		m_minkowskiA = minkA;
+	}
+
+	void SetMinkowskiB(ConvexShape* minkB)
+	{
+		m_minkowskiB = minkB;
+	}
+	void SetCachedSeperatingAxis(const SimdVector3& seperatingAxis)
+	{
+		m_cachedSeparatingAxis = seperatingAxis;
+	}
+
+};
+
+#endif //GJK_PAIR_DETECTOR_H