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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 DISCRETE_COLLISION_DETECTOR_INTERFACE_H
#define DISCRETE_COLLISION_DETECTOR_INTERFACE_H
#include "SimdTransform.h"
#include "SimdVector3.h"
/// This interface is made to be used by an iterative approach to do TimeOfImpact calculations
/// This interface allows to query for closest points and penetration depth between two (convex) objects
/// the closest point is on the second object (B), and the normal points from the surface on B towards A.
/// distance is between closest points on B and closest point on A. So you can calculate closest point on A
/// by taking closestPointInA = closestPointInB + m_distance * m_normalOnSurfaceB
struct DiscreteCollisionDetectorInterface
{
void operator delete(void* ptr) {};
struct Result
{
void operator delete(void* ptr) {};
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)=0;
};
struct ClosestPointInput
{
ClosestPointInput()
:m_maximumDistanceSquared(1e30f)
{
}
SimdTransform m_transformA;
SimdTransform m_transformB;
SimdScalar m_maximumDistanceSquared;
};
virtual ~DiscreteCollisionDetectorInterface() {};
//
// give either closest points (distance > 0) or penetration (distance)
// the normal always points from B towards A
//
virtual void GetClosestPoints(const ClosestPointInput& input,Result& output) = 0;
SimdScalar getCollisionMargin() { return 0.2f;}
};
struct StorageResult : public DiscreteCollisionDetectorInterface::Result
{
SimdVector3 m_normalOnSurfaceB;
SimdVector3 m_closestPointInB;
SimdScalar m_distance; //negative means penetration !
StorageResult() : m_distance(1e30f)
{
}
virtual void AddContactPoint(const SimdVector3& normalOnBInWorld,const SimdVector3& pointInWorld,float depth)
{
if (depth < m_distance)
{
m_normalOnSurfaceB = normalOnBInWorld;
m_closestPointInB = pointInWorld;
m_distance = depth;
}
}
};
#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE_H
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