| /* |
| 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. |
| */ |
| |
| |
| #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h" |
| |
| |
| btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB) |
| : btConvexInternalShape (), |
| m_shapeA(shapeA), |
| m_shapeB(shapeB) |
| { |
| m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE; |
| m_transA.setIdentity(); |
| m_transB.setIdentity(); |
| } |
| |
| btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
| { |
| btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); |
| btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis())); |
| return supVertexA - supVertexB; |
| } |
| |
| void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
| { |
| ///@todo: could make recursive use of batching. probably this shape is not used frequently. |
| for (int i=0;i<numVectors;i++) |
| { |
| supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]); |
| } |
| |
| } |
| |
| |
| |
| btScalar btMinkowskiSumShape::getMargin() const |
| { |
| return m_shapeA->getMargin() + m_shapeB->getMargin(); |
| } |
| |
| |
| void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| (void)mass; |
| btAssert(0); |
| inertia.setValue(0,0,0); |
| } |