2020-11-16 14:47:43 +08:00
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_MINKOWSKI_SUM_SHAPE_H
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#define BT_MINKOWSKI_SUM_SHAPE_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
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ATTRIBUTE_ALIGNED16(class)
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btMinkowskiSumShape : public btConvexInternalShape
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{
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btTransform m_transA;
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btTransform m_transB;
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const btConvexShape* m_shapeA;
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const btConvexShape* m_shapeB;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB);
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
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void setTransformA(const btTransform& transA) { m_transA = transA; }
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void setTransformB(const btTransform& transB) { m_transB = transB; }
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const btTransform& getTransformA() const { return m_transA; }
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2022-04-25 12:16:08 +08:00
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const btTransform& getTransformB() const { return m_transB; }
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// keep this for backward compatibility
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2020-11-16 14:47:43 +08:00
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const btTransform& GetTransformB() const { return m_transB; }
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virtual btScalar getMargin() const;
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const btConvexShape* getShapeA() const { return m_shapeA; }
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const btConvexShape* getShapeB() const { return m_shapeB; }
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virtual const char* getName() const
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{
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return "MinkowskiSum";
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}
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};
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#endif //BT_MINKOWSKI_SUM_SHAPE_H
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