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btMinkowskiSumShape.cpp
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #include "btMinkowskiSumShape.h"
00017 
00018 
00019 btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
00020 :m_shapeA(shapeA),
00021 m_shapeB(shapeB)
00022 {
00023        m_transA.setIdentity();
00024        m_transB.setIdentity();
00025 }
00026 
00027 btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
00028 {
00029        btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis()));
00030        btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));
00031        return  supVertexA - supVertexB;
00032 }
00033 
00034 void   btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
00035 {
00036        //todo: could make recursive use of batching. probably this shape is not used frequently.
00037        for (int i=0;i<numVectors;i++)
00038        {
00039               supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
00040        }
00041 
00042 }
00043 
00044 
00045 
00046 btScalar      btMinkowskiSumShape::getMargin() const
00047 {
00048        return m_shapeA->getMargin() + m_shapeB->getMargin();
00049 }
00050 
00051 
00052 void   btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00053 {
00054        (void)mass;
00055        btAssert(0);
00056        inertia.setValue(0,0,0);
00057 }