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Bullet/NarrowPhaseCollision/ConvexCast.h

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