1 files changed, 20 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
new file mode 100644
index 00000000000..fb40223b1d6
--- /dev/null
+++ b/extern/bullet/Bullet/NarrowPhaseCollision/MinkowskiPenetrationDepthSolver.h
@@ -0,0 +1,20 @@
+
+#ifndef MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+#define MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+
+#include "ConvexPenetrationDepthSolver.h"
+
+///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
+///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
+class MinkowskiPenetrationDepthSolver : public ConvexPenetrationDepthSolver
+{
+public:
+
+	virtual bool CalcPenDepth( SimplexSolverInterface& simplexSolver,
+	ConvexShape* convexA,ConvexShape* convexB,
+				const SimdTransform& transA,const SimdTransform& transB,
+			SimdVector3& v, SimdPoint3& pa, SimdPoint3& pb);
+
+};
+
+#endif //MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
+\ No newline at end of file