1 files changed, 117 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs
new file mode 100644
index 0000000..fae2557
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs
@@ -0,0 +1,117 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  This software is provided 'as-is', without any express or implied
+  warranty.  In no event will the authors be held liable for any damages
+  arising from the use of this software.
+  Permission is granted to anyone to use this software for any purpose,
+  including commercial applications, and to alter it and redistribute it
+  freely, subject to the following restrictions:
+  1. The origin of this software must not be misrepresented; you must not
+     claim that you wrote the original software. If you use this software
+     in a product, an acknowledgment in the product documentation would be
+     appreciated but is not required.
+  2. Altered source versions must be plainly marked as such, and must not be
+     misrepresented as being the original software.
+  3. This notice may not be removed or altered from any source distribution.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        public abstract class DiscreteCollisionDetectorInterface
+        {
+                public abstract class Result
+                {
+                        public abstract void SetShapeIdentifiers(int partIdA, int indexA, int partIdB, int indexB);
+                        public abstract void AddContactPoint(Vector3 normalOnBInWorld, Vector3 pointInWorld, float depth);
+                }
+                public class ClosestPointInput
+                {
+                        private float _maximumDistanceSquared;
+                        private Matrix _transformA, _transformB;
+                        #region Properties
+                        public Matrix TransformB
+                        {
+                                get { return _transformB; }
+                                set { _transformB = value; }
+                        }
+                        public Matrix TransformA
+                        {
+                                get { return _transformA; }
+                                set { _transformA = value; }
+                        }
+                        public float MaximumDistanceSquared
+                        {
+                                get { return _maximumDistanceSquared; }
+                                set { _maximumDistanceSquared = value; }
+                        }
+                        #endregion
+                        public ClosestPointInput()
+                        {
+                                _maximumDistanceSquared = 1e30f;
+                        }
+                }
+                public abstract void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw);
+        }
+        public class StorageResult : DiscreteCollisionDetectorInterface.Result
+        {
+                private Vector3 _closestPointInB;
+                private Vector3 _normalOnSurfaceB;
+                private float _distance; //negative means penetration !
+                #region Properties
+                public float Distance
+                {
+                        get { return _distance; }
+                        set { _distance = value; }
+                }
+                public Vector3 NormalOnSurfaceB
+                {
+                        get { return _normalOnSurfaceB; }
+                        set { _normalOnSurfaceB = value; }
+                }
+                public Vector3 ClosestPointInB
+                {
+                        get { return _closestPointInB; }
+                        set { _closestPointInB = value; }
+                }
+                #endregion
+                public StorageResult()
+                {
+                        _distance = 1e30f;
+                }
+                public override void AddContactPoint(Vector3 normalOnBInWorld, Vector3 pointInWorld, float depth)
+                {
+                        if (depth < _distance)
+                        {
+                                _normalOnSurfaceB = normalOnBInWorld;
+                                _closestPointInB = pointInWorld;
+                                _distance = depth;
+                        }
+                }
+                public override void SetShapeIdentifiers(int partId0, int index0, int partId1, int index1)
+                {
+                        throw new Exception("The method or operation is not implemented.");
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs new file mode 100644 index 0000000..fae2557 --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/NarrowPhaseCollision/DiscreteCollisionDetectorInterface.cs
@@ -0,0 +1,117 @@
	1	/*
	2	Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
	3	Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
	4
	5	This software is provided 'as-is', without any express or implied
	6	warranty. In no event will the authors be held liable for any damages
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	13	1. The origin of this software must not be misrepresented; you must not
	14	claim that you wrote the original software. If you use this software
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	public abstract class DiscreteCollisionDetectorInterface
	30	{
	31	public abstract class Result
	32	{
	33	public abstract void SetShapeIdentifiers(int partIdA, int indexA, int partIdB, int indexB);
	34	public abstract void AddContactPoint(Vector3 normalOnBInWorld, Vector3 pointInWorld, float depth);
	35	}
	36
	37	public class ClosestPointInput
	38	{
	39	private float _maximumDistanceSquared;
	40	private Matrix _transformA, _transformB;
	41
	42	#region Properties
	43	public Matrix TransformB
	44	{
	45	get { return _transformB; }
	46	set { _transformB = value; }
	47	}
	48
	49	public Matrix TransformA
	50	{
	51	get { return _transformA; }
	52	set { _transformA = value; }
	53	}
	54
	55	public float MaximumDistanceSquared
	56	{
	57	get { return _maximumDistanceSquared; }
	58	set { _maximumDistanceSquared = value; }
	59	}
	60	#endregion
	61
	62	public ClosestPointInput()
	63	{
	64	_maximumDistanceSquared = 1e30f;
	65	}
	66	}
	67
	68	public abstract void GetClosestPoints(ClosestPointInput input, Result output, IDebugDraw debugDraw);
	69	}
	70
	71	public class StorageResult : DiscreteCollisionDetectorInterface.Result
	72	{
	73	private Vector3 _closestPointInB;
	74	private Vector3 _normalOnSurfaceB;
	75	private float _distance; //negative means penetration !
	76
	77	#region Properties
	78
	79	public float Distance
	80	{
	81	get { return _distance; }
	82	set { _distance = value; }
	83	}
	84	public Vector3 NormalOnSurfaceB
	85	{
	86	get { return _normalOnSurfaceB; }
	87	set { _normalOnSurfaceB = value; }
	88	}
	89	public Vector3 ClosestPointInB
	90	{
	91	get { return _closestPointInB; }
	92	set { _closestPointInB = value; }
	93	}
	94
	95	#endregion
	96
	97	public StorageResult()
	98	{
	99	_distance = 1e30f;
	100	}
	101
	102	public override void AddContactPoint(Vector3 normalOnBInWorld, Vector3 pointInWorld, float depth)
	103	{
	104	if (depth < _distance)
	105	{
	106	_normalOnSurfaceB = normalOnBInWorld;
	107	_closestPointInB = pointInWorld;
	108	_distance = depth;
	109	}
	110	}
	111
	112	public override void SetShapeIdentifiers(int partId0, int index0, int partId1, int index1)
	113	{
	114	throw new Exception("The method or operation is not implemented.");
	115	}
	116	}
	117	}