SeparationScenario.hpp
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1 /*
2  * Original work Copyright (c) 2007-2009 Erin Catto http://www.box2d.org
3  * Modified work Copyright (c) 2017 Louis Langholtz https://github.com/louis-langholtz/PlayRho
4  *
5  * This software is provided 'as-is', without any express or implied
6  * warranty. In no event will the authors be held liable for any damages
7  * arising from the use of this software.
8  *
9  * Permission is granted to anyone to use this software for any purpose,
10  * including commercial applications, and to alter it and redistribute it
11  * freely, subject to the following restrictions:
12  *
13  * 1. The origin of this software must not be misrepresented; you must not
14  * claim that you wrote the original software. If you use this software
15  * in a product, an acknowledgment in the product documentation would be
16  * appreciated but is not required.
17  * 2. Altered source versions must be plainly marked as such, and must not be
18  * misrepresented as being the original software.
19  * 3. This notice may not be removed or altered from any source distribution.
20  */
21 
22 #ifndef PLAYRHO_COLLISION_SEPARATIONFINDER_HPP
23 #define PLAYRHO_COLLISION_SEPARATIONFINDER_HPP
24 
25 #include <PlayRho/Common/Math.hpp>
26 #include <PlayRho/Collision/IndexPair.hpp>
27 
28 namespace playrho {
29 namespace d2 {
30 
31 class DistanceProxy;
32 struct Transformation;
33 
35 struct SeparationScenario
36 {
38  enum Type
39  {
40  e_points,
41  e_faceA,
42  e_faceB,
43  };
44 
45  const DistanceProxy& proxyA;
46  const DistanceProxy& proxyB;
47  const UnitVec axis;
48 
51  const Length2 localPoint;
52 
53  const Type type;
54 };
55 
56 // Free functions...
57 
69 SeparationScenario
70 GetSeparationScenario(IndexPair3 indices,
71  const DistanceProxy& proxyA, const Transformation& xfA,
72  const DistanceProxy& proxyB, const Transformation& xfB);
73 
77 LengthIndexPair FindMinSeparation(const SeparationScenario& scenario,
78  const Transformation& xfA, const Transformation& xfB);
79 
90 Length Evaluate(const SeparationScenario& scenario,
91  const Transformation& xfA, const Transformation& xfB,
92  IndexPair indexPair);
93 
94 } // namespace d2
95 } // namespace playrho
96 
97 #endif // PLAYRHO_COLLISION_SEPARATIONFINDER_HPP