btDiscreteCollisionDetectorInterface.h

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/*
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 DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
#define DISCRETE_COLLISION_DETECTOR1_INTERFACE_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
class btStackAlloc;

struct btDiscreteCollisionDetectorInterface
{
    
    struct Result
    {
    
        virtual ~Result(){} 

        virtual void setShapeIdentifiersA(int partId0,int index0)=0;
        virtual void setShapeIdentifiersB(int partId1,int index1)=0;
        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)=0;
    };

    struct ClosestPointInput
    {
        ClosestPointInput()
            :m_maximumDistanceSquared(btScalar(BT_LARGE_FLOAT)),
            m_stackAlloc(0)
        {
        }

        btTransform m_transformA;
        btTransform m_transformB;
        btScalar    m_maximumDistanceSquared;
        btStackAlloc* m_stackAlloc;
    };

    virtual ~btDiscreteCollisionDetectorInterface() {};

    //
    // give either closest points (distance > 0) or penetration (distance)
    // the normal always points from B towards A
    //
    virtual void    getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false) = 0;

};

struct btStorageResult : public btDiscreteCollisionDetectorInterface::Result
{
        btVector3   m_normalOnSurfaceB;
        btVector3   m_closestPointInB;
        btScalar    m_distance; //negative means penetration !

        btStorageResult() : m_distance(btScalar(BT_LARGE_FLOAT))
        {

        }
        virtual ~btStorageResult() {};

        virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
        {
            if (depth < m_distance)
            {
                m_normalOnSurfaceB = normalOnBInWorld;
                m_closestPointInB = pointInWorld;
                m_distance = depth;
            }
        }
};

#endif //DISCRETE_COLLISION_DETECTOR_INTERFACE1_H