diff options
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 60 |
1 files changed, 60 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp new file mode 100644 index 00000000000..06707e24e55 --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -0,0 +1,60 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +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. +*/ + + +#include "btMinkowskiSumShape.h" + + +btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) +: btConvexInternalShape (), +m_shapeA(shapeA), +m_shapeB(shapeB) +{ + m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; + m_transA.setIdentity(); + m_transB.setIdentity(); +} + +btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); + return supVertexA - supVertexB; +} + +void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + ///@todo: could make recursive use of batching. probably this shape is not used frequently. + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); + } + +} + + + +btScalar btMinkowskiSumShape::getMargin() const +{ + return m_shapeA->getMargin() + m_shapeB->getMargin(); +} + + +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + (void)mass; + btAssert(0); + inertia.setValue(0,0,0); +} |