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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_CONVEX_CAST_H
#define BT_CONVEX_CAST_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
class btMinkowskiSumShape;
#include "LinearMath/btIDebugDraw.h"
/// btConvexCast is an interface for Casting
class btConvexCast
{
public:
virtual ~btConvexCast();
///RayResult stores the closest result
/// alternatively, add a callback method to decide about closest/all results
struct CastResult
{
//virtual bool addRayResult(const btVector3& normal,btScalar fraction) = 0;
virtual void DebugDraw(btScalar fraction) {(void)fraction;}
virtual void drawCoordSystem(const btTransform& trans) {(void)trans;}
virtual void reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
CastResult()
:m_fraction(btScalar(BT_LARGE_FLOAT)),
m_debugDrawer(0),
m_allowedPenetration(btScalar(0))
{
}
virtual ~CastResult() {};
btTransform m_hitTransformA;
btTransform m_hitTransformB;
btVector3 m_normal;
btVector3 m_hitPoint;
btScalar m_fraction; //input and output
btIDebugDraw* m_debugDrawer;
btScalar m_allowedPenetration;
};
/// cast a convex against another convex object
virtual bool calcTimeOfImpact(
const btTransform& fromA,
const btTransform& toA,
const btTransform& fromB,
const btTransform& toB,
CastResult& result) = 0;
};
#endif //BT_CONVEX_CAST_H
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