physics/ConvexShape

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/****************************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file 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.
  
  This program 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. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: ConvexShape 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.2 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_CONVEXSHAPE_
#define _PHYSICS_CONVEXSHAPE_

#include <physics/physics>
#include <physics/Shape>
#include <base/Point3>
#include <base/Vector3>


namespace physics {


class ConvexShape : virtual public Shape
{
public:
  virtual ~ConvexShape() {}

  virtual bool isConvex() const { return true; }

  // Move this to an interface class  - or even just somewhow let each shape specify the
  //  function by registering with a GJKCollisionModel upon CollisionModel creation !!!

  // Support point of v - used by GJK collision algorithm
  // [see "A fast procedure for computing the distance between complex
  //       objects in three-dimensional space", E.G. Gilbert, D.W. Johnson
  //       and S.S. Keerthi, IEEE Journal of Robotics and Automation, 4(2):193-203, 1988]
  virtual gfx::Point3 support(const gfx::Vector3& v) const  = 0;

};


} // physics

#endif

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