blender/extern/bullet/Bullet/CollisionShapes/MinkowskiSumShape.cpp
Erwin Coumans feb4f51103 Added Bullet library.
Only windows projectfiles for now.
Will ask Hans to get unix makefiles done.
2005-07-16 09:58:01 +00:00

40 lines
1.2 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.
*/
#include "MinkowskiSumShape.h"
MinkowskiSumShape::MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB)
:m_shapeA(shapeA),
m_shapeB(shapeB)
{
m_transA.setIdentity();
m_transB.setIdentity();
}
SimdVector3 MinkowskiSumShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
SimdVector3 supVertexA = m_transA(m_shapeA->LocalGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
SimdVector3 supVertexB = m_transB(m_shapeB->LocalGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
return supVertexA + supVertexB;
}
float MinkowskiSumShape::GetMargin() const
{
return m_shapeA->GetMargin() + m_shapeB->GetMargin();
}
void MinkowskiSumShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
assert(0);
inertia.setValue(0,0,0);
}