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SubSimplexConvexCast.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 SUBSIMPLEX_CONVEX_CAST_H
#define SUBSIMPLEX_CONVEX_CAST_H

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

/// SubsimplexConvexCast implements Gino van den Bergens' paper
/// GJK based Ray Cast, optimized version
00021 class SubsimplexConvexCast : public ConvexCast
{
      SimplexSolverInterface* m_simplexSolver;
      ConvexShape*      m_convexA;
      ConvexShape*      m_convexB;

public:

      SubsimplexConvexCast (ConvexShape*  shapeA,ConvexShape*     shapeB,SimplexSolverInterface* simplexSolver);

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

};

#endif //SUBSIMPLEX_CONVEX_CAST_H

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