forked from bartvdbraak/blender
57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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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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void MinkowskiSumShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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//todo: could make recursive use of batching. probably this shape is not used frequently.
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]);
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}
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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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