physics/ODECollisionDetector

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/* **-*-c++-*-**************************************************************
  Copyright (C)2002 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: ODECollisionDetector 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.5 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_ODECOLLISIONDETECTOR_
#define _PHYSICS_ODECOLLISIONDETECTOR_

#include <physics/physics>

#include <base/array>
#include <physics/CollisionDetector>
#include <physics/ODECollidableBody>


namespace physics {

/**
 * Collision detector that wraps the ODE physics library collision functionality
 */
class ODECollisionDetector : public CollisionDetector
{
public:
  ODECollisionDetector();
  virtual ~ODECollisionDetector();

  virtual String className() const { return String("ODECollisionDetector"); }

  virtual ref<CollidableBody> createCollidableBody(ref<Shape> shape); ///< new CollidableBody with specified Shape
  
  virtual void collide(ref<const Collidable> collidable1, ref<const Collidable> collidable2);
  
  virtual void collide(ref<const Collidable> collidable) { Collider::collide(collidable); }

  
protected:
  virtual ref<CollisionState> newCollisionState(ref<const CollidableBody> collidable1, ref<const CollidableBody> collidable2) const;

  
  class ODECollisionState : public CollisionState
  {
  public:
    ODECollisionState(ref<const CollidableBody> collidable1, ref<const CollidableBody> collidable2);
    virtual ~ODECollisionState();

    //Vector3 v;
    //ref<const Polyhedron::Vertex> lastSupport[2]; // remember the last support vertex

    virtual String className() const { return String("ODECollisionState"); }
  };

};


} // physics

#endif

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