74 lines
2.3 KiB
C++
74 lines
2.3 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 BT_CONVEX_CAST_H
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#define BT_CONVEX_CAST_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btScalar.h"
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class btMinkowskiSumShape;
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#include "LinearMath/btIDebugDraw.h"
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/// btConvexCast is an interface for Casting
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class btConvexCast
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{
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public:
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virtual ~btConvexCast();
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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 btVector3& normal,btScalar fraction) = 0;
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virtual void DebugDraw(btScalar fraction) {(void)fraction;}
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virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
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virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
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CastResult()
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:m_fraction(btScalar(BT_LARGE_FLOAT)),
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m_debugDrawer(0),
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m_allowedPenetration(btScalar(0))
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{
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}
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virtual ~CastResult() {};
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btTransform m_hitTransformA;
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btTransform m_hitTransformB;
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btVector3 m_normal;
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btVector3 m_hitPoint;
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btScalar m_fraction; //input and output
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btIDebugDraw* m_debugDrawer;
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btScalar m_allowedPenetration;
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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 btTransform& fromA,
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const btTransform& toA,
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const btTransform& fromB,
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const btTransform& toB,
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CastResult& result) = 0;
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};
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#endif //BT_CONVEX_CAST_H
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