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https://github.com/bulletphysics/bullet3
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72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONVEX_CAST_H
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#define CONVEX_CAST_H
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#include <SimdTransform.h>
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#include <SimdVector3.h>
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#include <SimdScalar.h>
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class MinkowskiSumShape;
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#include "IDebugDraw.h"
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/// ConvexCast is an interface for Casting
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class ConvexCast
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{
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public:
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virtual ~ConvexCast();
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///RayResult stores the closest result
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/// alternatively, add a callback method to decide about closest/all results
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struct CastResult
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{
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//virtual bool addRayResult(const SimdVector3& normal,SimdScalar fraction) = 0;
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virtual void DebugDraw(SimdScalar fraction) {}
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virtual void DrawCoordSystem(const SimdTransform& trans) {}
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CastResult()
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:m_fraction(1e30f),
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m_debugDrawer(0)
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{
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}
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virtual ~CastResult() {};
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SimdVector3 m_normal;
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SimdScalar m_fraction;
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SimdTransform m_hitTransformA;
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SimdTransform m_hitTransformB;
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IDebugDraw* m_debugDrawer;
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};
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/// cast a convex against another convex object
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virtual bool calcTimeOfImpact(
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const SimdTransform& fromA,
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const SimdTransform& toA,
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const SimdTransform& fromB,
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const SimdTransform& toB,
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CastResult& result) = 0;
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};
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#endif //CONVEX_CAST_H
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