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MinkowskiPenetrationDepthSolver.h

#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.
00009 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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