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 * 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.


#include <CollisionShapes/CollisionMargin.h>

#include "SimdVector3.h"
#include "ConvexCast.h"
class ConvexShape;
class MinkowskiSumShape;
#include "SimplexSolverInterface.h"

///GjkConvexCast performs a raycast on a convex object using support mapping.
00025 class GjkConvexCast : public ConvexCast
      SimplexSolverInterface* m_simplexSolver;
      ConvexShape*      m_convexA;
      ConvexShape*      m_convexB;


      GjkConvexCast(ConvexShape*    convexA,ConvexShape* convexB,SimplexSolverInterface* simplexSolver);

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



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