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btMinkowskiSumShape.h
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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 #ifndef MINKOWSKI_SUM_SHAPE_H
00017 #define MINKOWSKI_SUM_SHAPE_H
00018 
00019 #include "btConvexInternalShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00023 class btMinkowskiSumShape : public btConvexInternalShape
00024 {
00025 
00026        btTransform   m_transA;
00027        btTransform   m_transB;
00028        const btConvexShape* m_shapeA;
00029        const btConvexShape* m_shapeB;
00030 
00031 public:
00032 
00033        btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
00034 
00035        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00036 
00037        virtual void  batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00038 
00039 
00040        virtual void  calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00041 
00042        void   setTransformA(const btTransform&   transA) { m_transA = transA;}
00043        void   setTransformB(const btTransform&   transB) { m_transB = transB;}
00044 
00045        const btTransform& getTransformA()const  { return m_transA;}
00046        const btTransform& GetTransformB()const  { return m_transB;}
00047 
00048 
00049        virtual int   getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
00050 
00051        virtual btScalar     getMargin() const;
00052 
00053        const btConvexShape* getShapeA() const { return m_shapeA;}
00054        const btConvexShape* getShapeB() const { return m_shapeB;}
00055 
00056        virtual const char*  getName()const 
00057        {
00058               return "MinkowskiSum";
00059        }
00060 };
00061 
00062 #endif //MINKOWSKI_SUM_SHAPE_H