forked from bartvdbraak/blender
63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
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 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 BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) 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
|