/*************************************************************************/
/*  collision_solver_sw.h                                                */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
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/*************************************************************************/
#ifndef COLLISION_SOLVER_SW_H
#define COLLISION_SOLVER_SW_H

#include "shape_sw.h"

class CollisionSolverSW
{
public:
	typedef void (*CallbackResult)(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);
private:

	static void concave_callback(void *p_userdata, ShapeSW *p_convex);
	static bool solve_static_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
	static bool solve_ray(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result);
	static bool solve_concave(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result,real_t p_margin_A=0,real_t p_margin_B=0);
	static void concave_distance_callback(void *p_userdata, ShapeSW *p_convex);
	static bool solve_distance_plane(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B);

public:


	static bool solve_static(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,CallbackResult p_result_callback,void *p_userdata,Vector3 *r_sep_axis=NULL,real_t p_margin_A=0,real_t p_margin_B=0);
	static bool solve_distance(const ShapeSW *p_shape_A,const Transform& p_transform_A,const ShapeSW *p_shape_B,const Transform& p_transform_B,Vector3& r_point_A,Vector3& r_point_B,const Rect3& p_concave_hint,Vector3 *r_sep_axis=NULL);

};

#endif // COLLISION_SOLVER__SW_H