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btMultiSphereShape.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 MULTI_SPHERE_MINKOWSKI_H
00017 #define MULTI_SPHERE_MINKOWSKI_H
00018 
00019 #include "btConvexInternalShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00022 #define MAX_NUM_SPHERES 5
00023 
00025 class btMultiSphereShape : public btConvexInternalShape
00026 
00027 {
00028        
00029        btVector3 m_localPositions[MAX_NUM_SPHERES];
00030        btScalar  m_radi[MAX_NUM_SPHERES];
00031        btVector3     m_inertiaHalfExtents;
00032 
00033        int m_numSpheres;
00034        
00035 
00036 
00037 
00038 public:
00039        btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
00040 
00042        virtual void  calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00043 
00045        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00046 
00047        virtual void  batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00048        
00049        int    getSphereCount() const
00050        {
00051               return m_numSpheres;
00052        }
00053 
00054        const btVector3&     getSpherePosition(int index) const
00055        {
00056               return m_localPositions[index];
00057        }
00058 
00059        btScalar      getSphereRadius(int index) const
00060        {
00061               return m_radi[index];
00062        }
00063 
00064        virtual int   getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
00065 
00066        virtual const char*  getName()const 
00067        {
00068               return "MultiSphere";
00069        }
00070 
00071 };
00072 
00073 
00074 #endif //MULTI_SPHERE_MINKOWSKI_H