| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | |
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| 17 | #ifndef CONVEX_CAST_H |
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| 18 | #define CONVEX_CAST_H |
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| 19 | |
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| 20 | #include "LinearMath/btTransform.h" |
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| 21 | #include "LinearMath/btVector3.h" |
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| 22 | #include "LinearMath/btScalar.h" |
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| 23 | class btMinkowskiSumShape; |
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| 24 | #include "LinearMath/btIDebugDraw.h" |
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| 25 | |
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| 26 | /// btConvexCast is an interface for Casting |
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| 27 | class btConvexCast |
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| 28 | { |
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| 29 | public: |
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| 30 | |
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| 31 | |
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| 32 | virtual ~btConvexCast(); |
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| 33 | |
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| 34 | ///RayResult stores the closest result |
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| 35 | /// alternatively, add a callback method to decide about closest/all results |
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| 36 | struct CastResult |
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| 37 | { |
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| 38 | //virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0; |
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| 39 | |
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| 40 | virtual void DebugDraw(btScalar fraction) {(void)fraction;} |
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| 41 | virtual void drawCoordSystem(const btTransform& trans) {(void)trans;} |
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| 42 | |
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| 43 | CastResult() |
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| 44 | :m_fraction(btScalar(1e30)), |
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| 45 | m_debugDrawer(0), |
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| 46 | m_allowedPenetration(btScalar(0)) |
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| 47 | { |
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| 48 | } |
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| 49 | |
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| 50 | |
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| 51 | virtual ~CastResult() {}; |
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| 52 | |
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| 53 | btTransform m_hitTransformA; |
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| 54 | btTransform m_hitTransformB; |
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| 55 | btVector3 m_normal; |
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| 56 | btVector3 m_hitPoint; |
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| 57 | btScalar m_fraction; //input and output |
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| 58 | btIDebugDraw* m_debugDrawer; |
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| 59 | btScalar m_allowedPenetration; |
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| 60 | |
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| 61 | }; |
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| 62 | |
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| 63 | |
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| 64 | /// cast a convex against another convex object |
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| 65 | virtual bool calcTimeOfImpact( |
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| 66 | const btTransform& fromA, |
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| 67 | const btTransform& toA, |
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| 68 | const btTransform& fromB, |
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| 69 | const btTransform& toB, |
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| 70 | CastResult& result) = 0; |
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| 71 | }; |
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| 72 | |
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| 73 | #endif //CONVEX_CAST_H |
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