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