| /* |
| 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. |
| */ |
| |
| #ifndef MINKOWSKI_SUM_SHAPE_H |
| #define MINKOWSKI_SUM_SHAPE_H |
| |
| #include "btConvexInternalShape.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
| |
| /// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes. |
| class btMinkowskiSumShape : public btConvexInternalShape |
| { |
| |
| btTransform m_transA; |
| btTransform m_transB; |
| const btConvexShape* m_shapeA; |
| const btConvexShape* m_shapeB; |
| |
| public: |
| |
| btMinkowskiSumShape(const btConvexShape* shapeA,const 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) const; |
| |
| 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 btScalar getMargin() const; |
| |
| const btConvexShape* getShapeA() const { return m_shapeA;} |
| const btConvexShape* getShapeB() const { return m_shapeB;} |
| |
| virtual const char* getName()const |
| { |
| return "MinkowskiSum"; |
| } |
| }; |
| |
| #endif //MINKOWSKI_SUM_SHAPE_H |