GuEPA.h

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#ifndef GU_EPA_H
#define GU_EPA_H
 
#include "GuGJKUtil.h"
#include "GuGJKType.h"
 
namespace physx
{
  
namespace Gu
{
    //ML: The main entry point for EPA.
    // 
    //This function returns one of three status codes:
    //(1)EPA_FAIL:  the algorithm failed to create a valid polytope(the origin wasn't inside the polytope) from the input simplex.
    //(2)EPA_CONTACT : the algorithm found the MTD and converged successfully.
    //(3)EPA_DEGENERATE: the algorithm cannot make further progress and the result is unknown.
 
    GjkStatus epaPenetration(   const GjkConvex& a,                     //convex a in the space of convex b
                                const GjkConvex& b,                     //convex b                             
                                const PxU8* PX_RESTRICT aInd,           //warm start index for convex a to create an initial simplex
                                const PxU8* PX_RESTRICT bInd,           //warm start index for convex b to create an initial simplex
                                const PxU8 size,                        //number of warm-start indices                          
                                const bool takeCoreShape,               //indicates whether we take support point from the core shape or surface of capsule/sphere
                                const aos::FloatV tolerenceLength,      //the length of meter
                                GjkOutput& output);                     //result                    
 
    GjkStatus epaPenetration(   const GjkConvex& a,                     //convex a in the space of convex b
                                const GjkConvex& b,                     //convex b                             
                                const aos::Vec3V* PX_RESTRICT aPnt,     //warm start point for convex a to create an initial simplex
                                const aos::Vec3V* PX_RESTRICT bPnt,     //warm start point for convex b to create an initial simplex
                                const PxU8 size,                        //number of warm-start indices                          
                                const bool takeCoreShape,               //indicates whether we take support point from the core shape or surface of capsule/sphere
                                const aos::FloatV tolerenceLength,      //the length of meter
                                GjkOutput& output);                     //result                    
}
 
}
 
#endif