collisiondetectors/CD_Linear.h

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#ifndef CD_Linear_h
#define CD_Linear_h 1

#include "CollisionDetectors\CD_Bool.h"
#include "kinematics\Configuration.h"

class Universe;

enum CD_RESULT
{
    CD_FREE,        //completely in CFree
    CD_OBSTACLE,   //completely in CObstacle
    CD_PARTIAL      //paritally in CFree and CObstacle
} ;


class CD_Linear : public CD_Bool  //## Inherits: <unnamed>%378A7B240009
{

  public:
      CD_Linear (const CD_Linear& right);
      CD_Linear (const Universe& universe);
      virtual ~CD_Linear();

          //gets the stat of how many times this has been called
          int GetNumberOfTimesCalledLinear();

          // increments the stats of how many times this collision detector has 
          // been called
          void IncrementLinearStat();

      virtual bool IsInterferingLinear( const Configuration& c1, const Configuration& c2 ) = 0;
      virtual bool IsCompletelyWithinObstacles( const Configuration& c1, const Configuration& c2 ) = 0;
      virtual CD_RESULT LinearTest( const Configuration& c1, const Configuration& c2 );
      
      virtual Configuration GetLastIntersection () const;
          virtual Configuration GetLastValid () const;

          //resets the stats for counting number of times called
          void ResetStats();

          // SetUseWrapping:
          //    Sets the collision detector to use wrapping joints (for every joint capable of wrapping) 
          //    when taking the shortest linear distance between two joints.  
          void SetUseWrapping( bool wrapping );
          
  protected:
    // Data Members for Class Attributes
      Configuration lastIntersection;
          Configuration lastValid;

          // Indicates if wrapping joints will be used.
          bool useWrapping;

          int m_StatNumberOfLinearCalls;

  private:
  private:
};

#endif

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