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btContinuousConvexCollision.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 
00017 #ifndef CONTINUOUS_COLLISION_CONVEX_CAST_H
00018 #define CONTINUOUS_COLLISION_CONVEX_CAST_H
00019 
00020 #include "btConvexCast.h"
00021 #include "btSimplexSolverInterface.h"
00022 class btConvexPenetrationDepthSolver;
00023 class btConvexShape;
00024 
00029 class btContinuousConvexCollision : public btConvexCast
00030 {
00031        btSimplexSolverInterface* m_simplexSolver;
00032        btConvexPenetrationDepthSolver*    m_penetrationDepthSolver;
00033        const btConvexShape* m_convexA;
00034        const btConvexShape* m_convexB;
00035 
00036 
00037 public:
00038 
00039        btContinuousConvexCollision (const btConvexShape*       shapeA,const btConvexShape* shapeB ,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
00040 
00041        virtual bool  calcTimeOfImpact(
00042                             const btTransform& fromA,
00043                             const btTransform& toA,
00044                             const btTransform& fromB,
00045                             const btTransform& toB,
00046                             CastResult& result);
00047 
00048 
00049 };
00050 
00051 #endif //CONTINUOUS_COLLISION_CONVEX_CAST_H
00052