PQPCollisionDetection.h

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#ifndef PMPL_PQP_COLLISION_DETECTION_H_
#define PMPL_PQP_COLLISION_DETECTION_H_
 
#include "CollisionDetectionMethod.h"
 
class GMSPolyhedron;
class PQP_Model;
 
 
class PQP : public CollisionDetectionMethod {
 
  public:
 
 
    PQP();
 
    virtual ~PQP();
 
 
    static PQP_Model* Build(const GMSPolyhedron& _polyhedron);
 
 
    virtual bool IsInCollision(
        const GMSPolyhedron& _polyhedron1, const mathtool::Transformation& _t1,
        const GMSPolyhedron& _polyhedron2, const mathtool::Transformation& _t2,
        CDInfo& _cdInfo) override;
 
 
};
 
 
class PQPSolid : public PQP {
 
  public:
 
 
    PQPSolid();
 
    virtual ~PQPSolid();
 
 
    virtual bool IsInCollision(
        const GMSPolyhedron& _polyhedron1, const mathtool::Transformation& _t1,
        const GMSPolyhedron& _polyhedron2, const mathtool::Transformation& _t2,
        CDInfo& _cdInfo) override;
 
    virtual bool IsInsideObstacle(const mathtool::Vector3d& _point,
        const GMSPolyhedron& _polyhedron,
        const mathtool::Transformation& _transformation) override;
 
 
  private:
 
 
    PQP_Model* BuildPseudoRay() const;
 
 
};
 
#endif