/*
 * Copyright (c) 2011-2019, The DART development contributors
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#ifndef DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
#define DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_

// Must be included before any Bullet headers.
#include "dart/config.hpp"

#include <btBulletCollisionCommon.h>

#include "dart/collision/CollisionOption.hpp"
#include "dart/collision/CollisionResult.hpp"

namespace dart {
namespace collision {
namespace detail {

struct BulletOverlapFilterCallback : public btOverlapFilterCallback
{
  // Constructor
  explicit BulletOverlapFilterCallback(
      const std::shared_ptr<CollisionFilter>& filter = nullptr);

  /// Returns true when pairs need collision
  bool needBroadphaseCollision(
      btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override;

  /// True if at least one contact is found. This flag is used only when
  /// mResult is nullptr; otherwise the actual collision result is in mResult.
  bool foundCollision;

  /// Whether the collision iteration can stop
  mutable bool done;

  std::shared_ptr<CollisionFilter> filter;
};

} // namespace detail
} // namespace collision
} // namespace dart

#endif // DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
