/*************************************************************************/
/*  collision_solver_sw.h                                                */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
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/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
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/*************************************************************************/
#ifndef COLLISION_SOLVER_SW_H
#define COLLISION_SOLVER_SW_H

#include "shape_sw.h"

class CollisionSolverSW {
public:
	typedef void (*CallbackResult)(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);

private:
	static void concave_callback(void *p_userdata, ShapeSW *p_convex);
	static bool solve_static_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
	static bool solve_ray(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
	static bool solve_concave(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, float p_margin_A = 0, float p_margin_B = 0);
	static void concave_distance_callback(void *p_userdata, ShapeSW *p_convex);
	static bool solve_distance_plane(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);

public:
	static bool solve_static(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = NULL, float p_margin_A = 0, float p_margin_B = 0);
	static bool solve_distance(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = NULL);
};

#endif // COLLISION_SOLVER__SW_H