torcs - 1.2.2

src/modules/simu/simuv2/SOLID-2.0/src/Convex.h

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00001 /*
00002   SOLID - Software Library for Interference Detection
00003   Copyright (C) 1997-1998  Gino van den Bergen
00004 
00005   This library is free software; you can redistribute it and/or
00006   modify it under the terms of the GNU Library General Public
00007   License as published by the Free Software Foundation; either
00008   version 2 of the License, or (at your option) any later version.
00009 
00010   This library is distributed in the hope that it will be useful,
00011   but WITHOUT ANY WARRANTY; without even the implied warranty of
00012   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00013   Library General Public License for more details.
00014 
00015   You should have received a copy of the GNU Library General Public
00016   License along with this library; if not, write to the Free
00017   Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
00018 
00019   Please send remarks, questions and bug reports to gino@win.tue.nl,
00020   or write to:
00021                   Gino van den Bergen
00022                   Department of Mathematics and Computing Science
00023                   Eindhoven University of Technology
00024                   P.O. Box 513, 5600 MB Eindhoven, The Netherlands
00025 */
00026 
00027 #ifndef _CONVEX_H_
00028 #define _CONVEX_H_
00029 
00030 #include <3D/Point.h>
00031 #include "Shape.h"
00032 #include "BBox.h"
00033 #include "Transform.h"
00034 
00035 class Convex : public Shape {
00036 public:
00037   ShapeType getType() const { return CONVEX; } 
00038 
00039   virtual ~Convex() {}
00040   virtual Point support(const Vector& v) const = 0;
00041   virtual BBox bbox(const Transform& t) const;
00042 };
00043 
00044 
00045 bool intersect(const Convex& a, const Convex& b,
00046                const Transform& a2w, const Transform& b2w,
00047                Vector& v);
00048 
00049 bool intersect(const Convex& a, const Convex& b, const Transform& b2a, 
00050                Vector& v);
00051                         
00052 bool common_point(const Convex& a, const Convex& b, 
00053                   const Transform& a2w, const Transform& b2w,
00054                   Vector& v, Point& pa, Point& pb);
00055 
00056 bool common_point(const Convex& a, const Convex& b, const Transform& b2a,
00057                   Vector& v, Point& pa, Point& pb);
00058 
00059 void closest_points(const Convex&, const Convex&, 
00060                     const Transform&, const Transform&,
00061                     Point&, Point&);
00062 
00063 #endif

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