CollisionDetectionMethod.h

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#ifndef PMPL_COLLISION_DETECTION_METHOD_H_
#define PMPL_COLLISION_DETECTION_METHOD_H_
 
#include "Transformation.h"
#include "Vector.h"
 
#include <iostream>
#include <string>
 
class CDInfo;
class GMSPolyhedron;
 
 
class CollisionDetectionMethod {
 
  public:
 
 
    CollisionDetectionMethod(const std::string& _name = "CD_USER1");
 
    virtual ~CollisionDetectionMethod();
 
 
    const std::string& GetName() const;
 
    virtual void Print(std::ostream& _os) const;
 
 
    virtual bool IsInCollision(
        const GMSPolyhedron& _polyhedron1,
        const mathtool::Transformation& _transformation1,
        const GMSPolyhedron& _polyhedron2,
        const mathtool::Transformation& _transformation2,
        CDInfo& _cdInfo);
 
    virtual bool IsInsideObstacle(const mathtool::Vector3d& _point,
        const GMSPolyhedron& _polyhedron,
        const mathtool::Transformation& _transformation);
 
 
  protected:
 
 
    std::string m_name; 
 
 
};
 
#endif