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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
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