forked from bartvdbraak/blender
56 lines
1.5 KiB
C
56 lines
1.5 KiB
C
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef MULTI_SPHERE_MINKOWSKI_H
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#define MULTI_SPHERE_MINKOWSKI_H
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#include "ConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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#define MAX_NUM_SPHERES 5
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///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
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class MultiSphereShape : public ConvexShape
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{
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SimdVector3 m_localPositions[MAX_NUM_SPHERES];
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SimdScalar m_radi[MAX_NUM_SPHERES];
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SimdVector3 m_inertiaHalfExtents;
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int m_numSpheres;
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float m_minRadius;
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public:
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MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
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///CollisionShape Interface
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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/// ConvexShape Interface
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual int GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
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virtual char* GetName()const
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{
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return "MultiSphere";
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}
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};
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#endif //MULTI_SPHERE_MINKOWSKI_H
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