forked from bartvdbraak/blender
55 lines
1.7 KiB
C++
55 lines
1.7 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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#ifndef MINKOWSKI_SUM_SHAPE_H
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#define MINKOWSKI_SUM_SHAPE_H
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#include "ConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
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class MinkowskiSumShape : public ConvexShape
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{
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SimdTransform m_transA;
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SimdTransform m_transB;
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ConvexShape* m_shapeA;
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ConvexShape* m_shapeB;
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public:
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MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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void SetTransformA(const SimdTransform& transA) { m_transA = transA;}
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void SetTransformB(const SimdTransform& transB) { m_transB = transB;}
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const SimdTransform& GetTransformA()const { return m_transA;}
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const SimdTransform& GetTransformB()const { return m_transB;}
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virtual int GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
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virtual float GetMargin() const;
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const ConvexShape* GetShapeA() const { return m_shapeA;}
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const ConvexShape* GetShapeB() const { return m_shapeB;}
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virtual char* GetName()const
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{
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return "MinkowskiSum";
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}
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};
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#endif //MINKOWSKI_SUM_SHAPE_H
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