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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
#define CONTINUOUS_COLLISION_CONVEX_CAST_H
#include "ConvexCast.h"
#include "SimplexSolverInterface.h"
class ConvexPenetrationDepthSolver;
class ConvexShape;
/// ContinuousConvexCollision implements angular and linear time of impact for convex objects.
/// Based on Brian Mirtich's Conservative Advancement idea (PhD thesis).
/// Algorithm operates in worldspace, in order to keep inbetween motion globally consistent.
/// It uses GJK at the moment. Future improvement would use minkowski sum / supporting vertex, merging innerloops
class ContinuousConvexCollision : public ConvexCast
{
SimplexSolverInterface* m_simplexSolver;
ConvexPenetrationDepthSolver* m_penetrationDepthSolver;
ConvexShape* m_convexA;
ConvexShape* m_convexB;
public:
ContinuousConvexCollision (ConvexShape* shapeA,ConvexShape* shapeB ,SimplexSolverInterface* simplexSolver,ConvexPenetrationDepthSolver* penetrationDepthSolver);
virtual bool calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
CastResult& result);
};
#endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
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