GuGJKUtil.h

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#ifndef GU_GJKUTIL_H
#define GU_GJKUTIL_H
 
#include "foundation/PxVecMath.h"
 
/*
    This file is used to avoid the inner loop cross DLL calls
*/
namespace physx
{
namespace Gu
{
 
enum GjkStatus
{
    GJK_NON_INTERSECT,  // two shapes doesn't intersect
    GJK_CLOSE,          // two shapes doesn't intersect and gjk algorithm will return closest point information
    GJK_CONTACT,        // two shapes overlap within margin 
    GJK_UNDEFINED,      // undefined status
    GJK_DEGENERATE,     // gjk can't converage
 
    EPA_CONTACT,        // two shapes intersect
    EPA_DEGENERATE,     // epa can't converage
    EPA_FAIL            // epa fail to construct an initial polygon to work with 
};
 
struct GjkOutput
{
public:
    GjkOutput()
    {
        using namespace aos;
        closestA = closestB = normal = V3Zero();
        penDep = FZero();
    }
    aos::Vec3V closestA;
    aos::Vec3V closestB;
    aos::Vec3V normal;
    aos::Vec3V searchDir;
    aos::FloatV penDep;
};
 
}//Gu
}//physx
 
#endif