2005-07-16 09:58:01 +00:00
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/*
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2005-10-30 06:44:42 +00:00
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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2005-07-16 09:58:01 +00:00
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef SUBSIMPLEX_CONVEX_CAST_H
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#define SUBSIMPLEX_CONVEX_CAST_H
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#include "ConvexCast.h"
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#include "SimplexSolverInterface.h"
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class ConvexShape;
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/// SubsimplexConvexCast implements Gino van den Bergens' paper
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/// GJK based Ray Cast, optimized version
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class SubsimplexConvexCast : public ConvexCast
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{
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SimplexSolverInterface* m_simplexSolver;
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ConvexShape* m_convexA;
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ConvexShape* m_convexB;
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public:
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SubsimplexConvexCast (ConvexShape* shapeA,ConvexShape* shapeB,SimplexSolverInterface* simplexSolver);
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//virtual ~SubsimplexConvexCast();
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virtual bool calcTimeOfImpact(
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const SimdTransform& fromA,
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const SimdTransform& toA,
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const SimdTransform& fromB,
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const SimdTransform& toB,
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CastResult& result);
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};
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#endif //SUBSIMPLEX_CONVEX_CAST_H
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