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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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 CONVEX_CAST_H
#define CONVEX_CAST_H
#include <SimdTransform.h>
#include <SimdVector3.h>
#include <SimdScalar.h>
class MinkowskiSumShape;
#include "IDebugDraw.h"
/// ConvexCast is an interface for Casting
class ConvexCast
{
public:
virtual ~ConvexCast();
///RayResult stores the closest result
/// alternatively, add a callback method to decide about closest/all results
struct CastResult
{
//virtual bool addRayResult(const SimdVector3& normal,SimdScalar fraction) = 0;
virtual void DebugDraw(SimdScalar fraction) {}
virtual void DrawCoordSystem(const SimdTransform& trans) {}
CastResult()
:m_fraction(1e30f),
m_debugDrawer(0)
{
}
SimdVector3 m_normal;
SimdScalar m_fraction;
SimdTransform m_hitTransformA;
SimdTransform m_hitTransformB;
IDebugDraw* m_debugDrawer;
};
/// cast a convex against another convex object
virtual bool calcTimeOfImpact(
const SimdTransform& fromA,
const SimdTransform& toA,
const SimdTransform& fromB,
const SimdTransform& toB,
CastResult& result) = 0;
};
#endif //CONVEX_CAST_H
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