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add shape cast function

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This commit is contained in:
Irlan
2018-10-02 16:21:49 -03:00
parent e288e29fa9
commit cfb8effb12
2 changed files with 115 additions and 6 deletions
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14
include/bounce/collision/gjk/gjk.h
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@ -114,4 +114,18 @@ b3GJKOutput b3GJK(const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2,
bool applyRadius, b3SimplexCache* cache);
// The output of the GJK-based ray cast algorithm.
struct b3GJKRayCastOutput
{
float32 t; // time of impact
b3Vec3 point; // contact point at t
b3Vec3 normal; // contact normal at t
u32 iterations; // number of iterations
};
// Find the time of impact between two proxies given the relative target translation vector.
bool b3GJKRayCast(b3GJKRayCastOutput* output,
const b3Transform& xf1, const b3GJKProxy& proxy1,
const b3Transform& xf2, const b3GJKProxy& proxy2, const b3Vec3& translation2);
#endif