forked from bartvdbraak/blender
55 lines
1.7 KiB
C
55 lines
1.7 KiB
C
|
/*
|
||
|
|
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
|
||
|
|
*
|
||
|
|
* Permission to use, copy, modify, distribute and sell this software
|
||
|
|
* and its documentation for any purpose is hereby granted without fee,
|
||
|
|
* provided that the above copyright notice appear in all copies.
|
||
|
|
* Erwin Coumans makes no representations about the suitability
|
||
|
|
* of this software for any purpose.
|
||
|
|
* It is provided "as is" without express or implied warranty.
|
||
|
|
*/
|
||
|
|
#ifndef MINKOWSKI_SUM_SHAPE_H
|
||
|
|
#define MINKOWSKI_SUM_SHAPE_H
|
||
|
|
|
||
|
|
#include "ConvexShape.h"
|
||
|
|
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
|
||
|
|
|
||
|
|
/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
|
||
|
|
class MinkowskiSumShape : public ConvexShape
|
||
|
|
{
|
||
|
|
|
||
|
|
SimdTransform m_transA;
|
||
|
|
SimdTransform m_transB;
|
||
|
|
ConvexShape* m_shapeA;
|
||
|
|
ConvexShape* m_shapeB;
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
|
||
|
|
|
||
|
|
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
|
||
|
|
|
||
|
|
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
|
||
|
|
|
||
|
|
void SetTransformA(const SimdTransform& transA) { m_transA = transA;}
|
||
|
|
void SetTransformB(const SimdTransform& transB) { m_transB = transB;}
|
||
|
|
|
||
|
|
const SimdTransform& GetTransformA()const { return m_transA;}
|
||
|
|
const SimdTransform& GetTransformB()const { return m_transB;}
|
||
|
|
|
||
|
|
|
||
|
|
virtual int GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
|
||
|
|
|
||
|
|
virtual float GetMargin() const;
|
||
|
|
|
||
|
|
const ConvexShape* GetShapeA() const { return m_shapeA;}
|
||
|
|
const ConvexShape* GetShapeB() const { return m_shapeB;}
|
||
|
|
|
||
|
|
virtual char* GetName()const
|
||
|
|
{
|
||
|
|
return "MinkowskiSum";
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif //MINKOWSKI_SUM_SHAPE_H
|