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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h new file mode 100644 index 00000000000..e974f57a4c2 --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h @@ -0,0 +1,62 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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. +*/ + +#ifndef MINKOWSKI_SUM_SHAPE_H +#define MINKOWSKI_SUM_SHAPE_H + +#include "btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +/// btMinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes. +class btMinkowskiSumShape : public btConvexShape +{ + + btTransform m_transA; + btTransform m_transB; + btConvexShape* m_shapeA; + btConvexShape* m_shapeB; + +public: + + btMinkowskiSumShape(btConvexShape* shapeA,btConvexShape* shapeB); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + + void setTransformA(const btTransform& transA) { m_transA = transA;} + void setTransformB(const btTransform& transB) { m_transB = transB;} + + const btTransform& getTransformA()const { return m_transA;} + const btTransform& GetTransformB()const { return m_transB;} + + + virtual int getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; } + + virtual float getMargin() const; + + const btConvexShape* getShapeA() const { return m_shapeA;} + const btConvexShape* getShapeB() const { return m_shapeB;} + + virtual char* getName()const + { + return "MinkowskiSum"; + } +}; + +#endif //MINKOWSKI_SUM_SHAPE_H |