00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 00017 00018 #ifndef BT_GJK_CONVEX_CAST_H 00019 #define BT_GJK_CONVEX_CAST_H 00020 00021 #include "BulletCollision/CollisionShapes/btCollisionMargin.h" 00022 00023 #include "LinearMath/btVector3.h" 00024 #include "btConvexCast.h" 00025 class btConvexShape; 00026 class btMinkowskiSumShape; 00027 #include "btSimplexSolverInterface.h" 00028 00030 class btGjkConvexCast : public btConvexCast 00031 { 00032 btSimplexSolverInterface* m_simplexSolver; 00033 const btConvexShape* m_convexA; 00034 const btConvexShape* m_convexB; 00035 00036 public: 00037 00038 btGjkConvexCast(const btConvexShape* convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver); 00039 00041 virtual bool calcTimeOfImpact( 00042 const btTransform& fromA, 00043 const btTransform& toA, 00044 const btTransform& fromB, 00045 const btTransform& toB, 00046 CastResult& result); 00047 00048 }; 00049 00050 #endif //BT_GJK_CONVEX_CAST_H
