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btGjkConvexCast.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 
00018 #ifndef GJK_CONVEX_CAST_H
00019 #define GJK_CONVEX_CAST_H
00020 
00021 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
00022 
00023 #include "LinearMath/btVector3.h"
00024 #include "btConvexCast.h"
00025 class btConvexShape;
00026 class btMinkowskiSumShape;
00027 #include "btSimplexSolverInterface.h"
00028 
00030 class btGjkConvexCast : public btConvexCast
00031 {
00032        btSimplexSolverInterface*   m_simplexSolver;
00033        const btConvexShape* m_convexA;
00034        const btConvexShape* m_convexB;
00035 
00036 public:
00037 
00038        btGjkConvexCast(const btConvexShape*      convexA,const btConvexShape* convexB,btSimplexSolverInterface* simplexSolver);
00039 
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 #endif //GJK_CONVEX_CAST_H