diff options
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 60 |
1 files changed, 0 insertions, 60 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp deleted file mode 100644 index 06707e24e55..00000000000 --- a/extern/bullet2/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ /dev/null @@ -1,60 +0,0 @@ -/* -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); -} |