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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef MINKOWSKI_SUM_SHAPE_H
#define MINKOWSKI_SUM_SHAPE_H
#include "ConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
/// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
class MinkowskiSumShape : public ConvexShape
{
SimdTransform m_transA;
SimdTransform m_transB;
ConvexShape* m_shapeA;
ConvexShape* m_shapeB;
public:
MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB);
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
void SetTransformA(const SimdTransform& transA) { m_transA = transA;}
void SetTransformB(const SimdTransform& transB) { m_transB = transB;}
const SimdTransform& GetTransformA()const { return m_transA;}
const SimdTransform& GetTransformB()const { return m_transB;}
virtual int GetShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
virtual float GetMargin() const;
const ConvexShape* GetShapeA() const { return m_shapeA;}
const ConvexShape* GetShapeB() const { return m_shapeB;}
virtual char* GetName()const
{
return "MinkowskiSum";
}
};
#endif //MINKOWSKI_SUM_SHAPE_H
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