text: /********************************************************************************
  * ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
  * Copyright (c) 2010-2022 Daniel Chappuis                                       *
  *********************************************************************************
  *                                                                               *
  * 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.    *
  *                                                                               *
  ********************************************************************************/
  
  #ifndef REACTPHYSICS3D_CAPSULE_VS_CAPSULE_ALGORITHM_H
  #define	REACTPHYSICS3D_CAPSULE_VS_CAPSULE_ALGORITHM_H
  
  // Libraries
  #include <reactphysics3d/collision/narrowphase/NarrowPhaseAlgorithm.h>
  #include <reactphysics3d/configuration.h>
  
  /// Namespace ReactPhysics3D
  namespace reactphysics3d {
  
  // Declarations
  struct NarrowPhaseInfoBatch;
  class ContactPoint;
  
  // Class CapsuleVsCapsuleAlgorithm
  /**
   * This class is used to compute the narrow-phase collision detection
   * between two capsules collision shapes. We do not use the GJK or SAT
   * algorithm here. We directly compute the contact points and contact normal.
   * This is based on the "Robust Contact Creation for Physics Simulation"
   * presentation by Dirk Gregorius.
   */
  class CapsuleVsCapsuleAlgorithm : public NarrowPhaseAlgorithm {
  
      protected :
  
      public :
  
          // -------------------- Methods -------------------- //
  
          /// Constructor
  		CapsuleVsCapsuleAlgorithm() = default;
  
          /// Destructor
          virtual ~CapsuleVsCapsuleAlgorithm() override = default;
  
          /// Deleted copy-constructor
  		CapsuleVsCapsuleAlgorithm(const CapsuleVsCapsuleAlgorithm& algorithm) = delete;
  
          /// Deleted assignment operator
  		CapsuleVsCapsuleAlgorithm& operator=(const CapsuleVsCapsuleAlgorithm& algorithm) = delete;
  
          /// Compute the narrow-phase collision detection between two capsules
          bool testCollision(NarrowPhaseInfoBatch& narrowPhaseInfoBatch, uint32 batchStartIndex,
                             uint32 batchNbItems, MemoryAllocator& memoryAllocator);
  };
  
  }
  
  #endif
  
  