63 lines
2.4 KiB
C
63 lines
2.4 KiB
C
|
/*
|
||
|
|
Bullet Continuous Collision Detection and Physics Library
|
||
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
||
|
|
|
||
|
|
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 BT_MINKOWSKI_SUM_SHAPE_H
|
||
|
|
#define BT_MINKOWSKI_SUM_SHAPE_H
|
||
|
|
|
||
|
|
#include "btConvexInternalShape.h"
|
||
|
|
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
|
||
|
|
|
||
|
|
/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
|
||
|
|
ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape
|
||
|
|
{
|
||
|
|
|
||
|
|
btTransform m_transA;
|
||
|
|
btTransform m_transB;
|
||
|
|
const btConvexShape* m_shapeA;
|
||
|
|
const btConvexShape* m_shapeB;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
BT_DECLARE_ALIGNED_ALLOCATOR();
|
||
|
|
|
||
|
|
btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
|
||
|
|
|
||
|
|
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
|
||
|
|
|
||
|
|
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
|
||
|
|
|
||
|
|
|
||
|
|
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
|
||
|
|
|
||
|
|
void setTransformA(const btTransform& transA) { m_transA = transA;}
|
||
|
|
void setTransformB(const btTransform& transB) { m_transB = transB;}
|
||
|
|
|
||
|
|
const btTransform& getTransformA()const { return m_transA;}
|
||
|
|
const btTransform& GetTransformB()const { return m_transB;}
|
||
|
|
|
||
|
|
|
||
|
|
virtual btScalar getMargin() const;
|
||
|
|
|
||
|
|
const btConvexShape* getShapeA() const { return m_shapeA;}
|
||
|
|
const btConvexShape* getShapeB() const { return m_shapeB;}
|
||
|
|
|
||
|
|
virtual const char* getName()const
|
||
|
|
{
|
||
|
|
return "MinkowskiSum";
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //BT_MINKOWSKI_SUM_SHAPE_H
|