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
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+++ b/extern/solid/src/convex/DT_Shape.h
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+/*
+ * 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
+
+
+
+
+