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// MIT License
// Copyright (c) 2019 Erin Catto
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
#ifndef B2_TIME_OF_IMPACT_H
#define B2_TIME_OF_IMPACT_H
#include "b2_api.h"
#include "b2_math.h"
#include "b2_distance.h"
/// Input parameters for b2TimeOfImpact
struct B2_API b2TOIInput
{
b2DistanceProxy proxyA;
b2DistanceProxy proxyB;
b2Sweep sweepA;
b2Sweep sweepB;
float tMax; // defines sweep interval [0, tMax]
};
/// Output parameters for b2TimeOfImpact.
struct B2_API b2TOIOutput
{
enum State
{
e_unknown,
e_failed,
e_overlapped,
e_touching,
e_separated
};
State state;
float t;
};
/// Compute the upper bound on time before two shapes penetrate. Time is represented as
/// a fraction between [0,tMax]. This uses a swept separating axis and may miss some intermediate,
/// non-tunneling collisions. If you change the time interval, you should call this function
/// again.
/// Note: use b2Distance to compute the contact point and normal at the time of impact.
B2_API void b2TimeOfImpact(b2TOIOutput* output, const b2TOIInput* input);
#endif
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