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  #ifndef PX_RAYCAST_CCD_H
  #define PX_RAYCAST_CCD_H
  /** \addtogroup extensions
  @{
  */
  
  #include "common/PxPhysXCommonConfig.h"
  #include "foundation/PxVec3.h"
  
  #if !PX_DOXYGEN
  namespace physx
  {
  #endif
  
  class PxScene;
  class PxShape;
  class PxRigidDynamic;
  class RaycastCCDManagerInternal;
  
  /**
  	\brief Raycast-CCD manager.
  
  	Raycast-CCD is a simple and potentially cheaper alternative to the SDK's built-in continuous collision detection algorithm.
  
  	This implementation has some limitations:
  	- it is only implemented for PxRigidDynamic objects (not for PxArticulationLink)
  	- it is only implemented for simple actors with 1 shape (not for "compounds")
  
  	Also, since it is raycast-based, the solution is not perfect. In particular:
  	- small dynamic objects can still go through the static world if the ray goes through a crack between edges, or a small
  	hole in the world (like the keyhole from a door).
  	- dynamic-vs-dynamic CCD is very approximate. It only works well for fast-moving dynamic objects colliding against
  	slow-moving dynamic objects.
  
  	Finally, since it is using the SDK's scene queries under the hood, it only works provided the simulation shapes also have
  	scene-query shapes associated with them. That is, if the objects in the scene only use PxShapeFlag::eSIMULATION_SHAPE
  	(and no PxShapeFlag::eSCENE_QUERY_SHAPE), then the raycast-CCD system will not work.
  	*/
  class RaycastCCDManager
  {
  public:
      RaycastCCDManager(PxScene* scene);
      ~RaycastCCDManager();
  
      /**
  			\brief Register dynamic object for raycast CCD.
  
  			\param[in] actor	object's actor
  			\param[in] shape	object's shape
  
  			\return True if success
  			*/
      bool registerRaycastCCDObject(PxRigidDynamic* actor, PxShape* shape);
  
      /**
  			\brief Perform raycast CCD. Call this after your simulate/fetchResults calls.
  
  			\param[in] doDynamicDynamicCCD	True to enable dynamic-vs-dynamic CCD (more expensive, not always needed)
  			*/
      void doRaycastCCD(bool doDynamicDynamicCCD);
  
  private:
      RaycastCCDManagerInternal* mImpl;
  };
  
  #if !PX_DOXYGEN
  } // namespace physx
  #endif
  
  /** @} */
  #endif
  