icollisiondetector.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with Sheep; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef SHEEP_GEOMETRY_ICOLLISIONDETECTOR_H
#define SHEEP_GEOMETRY_ICOLLISIONDETECTOR_H

#include "engine/dynamics/contact.h"

namespace sheep {

    //const Real HULL_THICKNESS = 0.025;
    const Real HULL_THICKNESS = 0.1;

    class RigidObject;

    class ICollisionDetector {  // abstract class
    public:
        virtual void Insert(RigidObject *object) = 0;
        virtual void Remove(RigidObject *object) = 0;

        // This method should be called (before proceeding to any query)
        // every time bodies transformation have changed or bodies have
        // beed inserted to or removed from the system.
        virtual void RefreshTransformations() = 0;

        virtual bool AreObjectsDisjoint() const = 0;
        virtual bool AreObjectHullsDisjoint() const = 0;

        virtual void FindContacts(ContactList *contacts) = 0;
    };

}

#endif  // !SHEEP_GEOMETRY_ICOLLISIONDETECTOR_H

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