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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 BT_SUBSIMPLEX_CONVEX_CAST_H
+#define BT_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 //BT_SUBSIMPLEX_CONVEX_CAST_H