17#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
18#define BT_GJP_EPA_PENETRATION_DEPTH_H
#define btSimplexSolverInterface
ConvexPenetrationDepthSolver provides an interface for penetration depth calculation.
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
btGjkEpaPenetrationDepthSolver()
bool calcPenDepth(btSimplexSolverInterface &simplexSolver, const btConvexShape *pConvexA, const btConvexShape *pConvexB, const btTransform &transformA, const btTransform &transformB, btVector3 &v, btVector3 &wWitnessOnA, btVector3 &wWitnessOnB, class btIDebugDraw *debugDraw)
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
btVector3 can be used to represent 3D points and vectors.