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BU_CollisionPair.h

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
*/

#ifndef BU_COLLISIONPAIR
#define BU_COLLISIONPAIR

#include <NarrowPhaseCollision/BU_Screwing.h>
#include <NarrowPhaseCollision/ConvexCast.h>


#include <SimdQuaternion.h>

class PolyhedralConvexShape;


///BU_CollisionPair implements collision algorithm for algebraic time of impact calculation of feature based shapes.
00025 class BU_CollisionPair : public ConvexCast
{
      
public:
      BU_CollisionPair(const PolyhedralConvexShape* convexA,const PolyhedralConvexShape* convexB,SimdScalar tolerance=0.2f);
      //toi

      virtual bool      calcTimeOfImpact(
                              const SimdTransform& fromA,
                              const SimdTransform& toA,
                              const SimdTransform& fromB,
                              const SimdTransform& toB,
                              CastResult& result);

      
      

private:
      const PolyhedralConvexShape*  m_convexA;
      const PolyhedralConvexShape*  m_convexB;
      BU_Screwing m_screwing;
      SimdScalar  m_tolerance;
      
};
#endif //BU_COLLISIONPAIR

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