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source: code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @ 7306

Last change on this file since 7306 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 2.2 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btMinkowskiSumShape.h"
17
18
19btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
20: btConvexInternalShape (),
21m_shapeA(shapeA),
22m_shapeB(shapeB)
23{
24        m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
25        m_transA.setIdentity();
26        m_transB.setIdentity();
27}
28
29btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
30{
31        btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
32        btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
33        return  supVertexA - supVertexB;
34}
35
36void    btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
37{
38        ///@todo: could make recursive use of batching. probably this shape is not used frequently.
39        for (int i=0;i<numVectors;i++)
40        {
41                supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
42        }
43
44}
45
46
47
48btScalar        btMinkowskiSumShape::getMargin() const
49{
50        return m_shapeA->getMargin() + m_shapeB->getMargin();
51}
52
53
54void    btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
55{
56        (void)mass;
57        btAssert(0);
58        inertia.setValue(0,0,0);
59}
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