| /* |
| 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 SUBSIMPLEX_CONVEX_CAST_H |
| #define SUBSIMPLEX_CONVEX_CAST_H |
| |
| #include "btConvexCast.h" |
| #include "btSimplexSolverInterface.h" |
| class btConvexShape; |
| |
| /// btSubsimplexConvexCast implements Gino van den Bergens' paper |
| ///"Ray Casting against bteral Convex Objects with Application to Continuous Collision Detection" |
| /// GJK based Ray Cast, optimized version |
| /// Objects should not start in overlap, otherwise results are not defined. |
| class btSubsimplexConvexCast : public btConvexCast |
| { |
| btSimplexSolverInterface* m_simplexSolver; |
| const btConvexShape* m_convexA; |
| const btConvexShape* m_convexB; |
| |
| public: |
| |
| btSubsimplexConvexCast (const btConvexShape* shapeA,const btConvexShape* shapeB,btSimplexSolverInterface* simplexSolver); |
| |
| //virtual ~btSubsimplexConvexCast(); |
| ///SimsimplexConvexCast calculateTimeOfImpact calculates the time of impact+normal for the linear cast (sweep) between two moving objects. |
| ///Precondition is that objects should not penetration/overlap at the start from the interval. Overlap can be tested using btGjkPairDetector. |
| virtual bool calcTimeOfImpact( |
| const btTransform& fromA, |
| const btTransform& toA, |
| const btTransform& fromB, |
| const btTransform& toB, |
| CastResult& result); |
| |
| }; |
| |
| #endif //SUBSIMPLEX_CONVEX_CAST_H |