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#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
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