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Bullet/CollisionShapes/MultiSphereShape.h

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+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef MULTI_SPHERE_MINKOWSKI_H
+#define MULTI_SPHERE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+#define MAX_NUM_SPHERES 5
+
+///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
+class MultiSphereShape : public ConvexShape
+
+{
+	
+	SimdVector3 m_localPositions[MAX_NUM_SPHERES];
+	SimdScalar  m_radi[MAX_NUM_SPHERES];
+	SimdVector3	m_inertiaHalfExtents;
+
+	int m_numSpheres;
+	float m_minRadius;
+
+
+
+
+
+public:
+	MultiSphereShape (const SimdVector3& inertiaHalfExtents,const SimdVector3* positions,const SimdScalar* radi,int numSpheres);
+
+	///CollisionShape Interface
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
+
+	/// ConvexShape Interface
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
+
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
+	
+
+	virtual int	GetShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
+
+	virtual char*	GetName()const 
+	{
+		return "MultiSphere";
+	}
+
+};
+
+
+#endif //MULTI_SPHERE_MINKOWSKI_H