diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h index 0ad4aab8a59..cc6287c86b0 100644 --- a/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +++ b/extern/bullet2/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h @@ -36,6 +36,11 @@ class btGjkPairDetector : public btDiscreteCollisionDetectorInterface btSimplexSolverInterface* m_simplexSolver; const btConvexShape* m_minkowskiA; const btConvexShape* m_minkowskiB; + int m_shapeTypeA; + int m_shapeTypeB; + btScalar m_marginA; + btScalar m_marginB; + bool m_ignoreMargin; btScalar m_cachedSeparatingDistance; @@ -50,10 +55,14 @@ public: btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); + btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver); virtual ~btGjkPairDetector() {}; virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false); + void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw); + + void setMinkowskiA(btConvexShape* minkA) { m_minkowskiA = minkA; |