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/*
* SOLID - Software Library for Interference Detection
*
* Copyright (C) 2001-2003 Dtecta. All rights reserved.
*
* This library may be distributed under the terms of the Q Public License
* (QPL) as defined by Trolltech AS of Norway and appearing in the file
* LICENSE.QPL included in the packaging of this file.
*
* This library may be distributed and/or modified under the terms of the
* GNU General Public License (GPL) version 2 as published by the Free Software
* Foundation and appearing in the file LICENSE.GPL included in the
* packaging of this file.
*
* This library is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Commercial use or any other use of this library not covered by either
* the QPL or the GPL requires an additional license from Dtecta.
* Please contact info@dtecta.com for enquiries about the terms of commercial
* use of this library.
*/
#ifndef DT_MINKOWSKI_H
#define DT_MINKOWSKI_H
#include "DT_Convex.h"
class DT_Minkowski : public DT_Convex {
public:
DT_Minkowski(const DT_Convex& lchild, const DT_Convex& rchild)
: m_lchild(lchild),
m_rchild(rchild)
{}
virtual MT_Scalar supportH(const MT_Vector3& v) const
{
return m_lchild.supportH(v) + m_rchild.supportH(v);
}
virtual MT_Point3 support(const MT_Vector3& v) const
{
return m_lchild.support(v) + (MT_Vector3)m_rchild.support(v);
}
private:
const DT_Convex& m_lchild;
const DT_Convex& m_rchild;
};
#endif
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