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Diffstat (limited to 'extern/solid/src/convex/DT_Shape.h')
-rwxr-xr-x | extern/solid/src/convex/DT_Shape.h | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/extern/solid/src/convex/DT_Shape.h b/extern/solid/src/convex/DT_Shape.h new file mode 100755 index 00000000000..d48942fe515 --- /dev/null +++ b/extern/solid/src/convex/DT_Shape.h @@ -0,0 +1,72 @@ +/* + * SOLID - Software Library for Interference Detection + * + * Copyright (C) 2001-2003 Dtecta. All rights reserved. + * + * This library may be distributed under the terms of the Q Public License + * (QPL) as defined by Trolltech AS of Norway and appearing in the file + * LICENSE.QPL included in the packaging of this file. + * + * This library may be distributed and/or modified under the terms of the + * GNU General Public License (GPL) version 2 as published by the Free Software + * Foundation and appearing in the file LICENSE.GPL included in the + * packaging of this file. + * + * This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE + * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. + * + * Commercial use or any other use of this library not covered by either + * the QPL or the GPL requires an additional license from Dtecta. + * Please contact info@dtecta.com for enquiries about the terms of commercial + * use of this library. + */ + +#ifndef DT_SHAPE_H +#define DT_SHAPE_H + +#include <algorithm> + +#include "MT_BBox.h" + +#include "MT_Transform.h" + +class DT_Object; + +enum DT_ShapeType { + COMPLEX, + CONVEX +}; + +class DT_Shape { +public: + virtual ~DT_Shape() {} + virtual DT_ShapeType getType() const = 0; + virtual MT_BBox bbox(const MT_Transform& t, MT_Scalar margin) const = 0; + virtual bool ray_cast(const MT_Point3& source, const MT_Point3& target, MT_Scalar& param, MT_Vector3& normal) const = 0; + +protected: + DT_Shape() {} +}; + +typedef bool (*Intersect)(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, + const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, + MT_Vector3&); + +typedef bool (*Common_point)(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, + const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, + MT_Vector3&, MT_Point3&, MT_Point3&); + +typedef bool (*Penetration_depth)(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, + const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, + MT_Vector3&, MT_Point3&, MT_Point3&); + +typedef MT_Scalar (*Closest_points)(const DT_Shape& a, const MT_Transform& a2w, MT_Scalar a_margin, + const DT_Shape& b, const MT_Transform& b2w, MT_Scalar b_margin, + MT_Point3&, MT_Point3&); + +#endif + + + + + |