source: code/trunk/src/external/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h @ 10815

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/


#ifndef BT_CONVEX_CAST_H
#define BT_CONVEX_CAST_H

#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btScalar.h"
class btMinkowskiSumShape;
#include "LinearMath/btIDebugDraw.h"

/// btConvexCast is an interface for Casting
class btConvexCast
{
public:


        virtual ~btConvexCast();

        ///RayResult stores the closest result
        /// alternatively, add a callback method to decide about closest/all results
        struct  CastResult
        {
                //virtual bool  addRayResult(const btVector3& normal,btScalar   fraction) = 0;
                                
                virtual void    DebugDraw(btScalar      fraction) {(void)fraction;}
                virtual void    drawCoordSystem(const btTransform& trans) {(void)trans;}
                virtual void    reportFailure(int errNo, int numIterations) {(void)errNo;(void)numIterations;}
                CastResult()
                        :m_fraction(btScalar(BT_LARGE_FLOAT)),
                        m_debugDrawer(0),
                        m_allowedPenetration(btScalar(0))
                {
                }


                virtual ~CastResult() {};

                btTransform     m_hitTransformA;
                btTransform     m_hitTransformB;
                btVector3       m_normal;
                btVector3   m_hitPoint;
                btScalar        m_fraction; //input and output
                btIDebugDraw* m_debugDrawer;
                btScalar        m_allowedPenetration;

        };


        /// cast a convex against another convex object
        virtual bool    calcTimeOfImpact(
                                        const btTransform& fromA,
                                        const btTransform& toA,
                                        const btTransform& fromB,
                                        const btTransform& toB,
                                        CastResult& result) = 0;
};

#endif //BT_CONVEX_CAST_H