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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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 MULTI_SPHERE_MINKOWSKI_H
#define MULTI_SPHERE_MINKOWSKI_H
#include "ConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
#define MAX_NUM_SPHERES 5
///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
class MultiSphereShape : public ConvexShape
{
SimdVector3 m_localPositions[MAX_NUM_SPHERES];
SimdScalar m_radi[MAX_NUM_SPHERES];
SimdVector3 m_inertiaHalfExtents;
int m_numSpheres;
float m_minRadius;
public:
MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
///CollisionShape Interface
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
/// ConvexShape Interface
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual int GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
virtual char* GetName()const
{
return "MultiSphere";
}
};
#endif //MULTI_SPHERE_MINKOWSKI_H
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