38b7f474c3
This is good when having lots of re-used shapes with different sizes. Convex shapes will need to derive from btConvexInternalShape (which is a subclass of btConvexShape). We could have renamed btConvexShape to 'btConvexShapeInterface' (can still do that later)
63 lines
2.4 KiB
C++
63 lines
2.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 MINKOWSKI_SUM_SHAPE_H
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#define 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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/// btMinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes.
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class 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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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);
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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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const btTransform& GetTransformB()const { return m_transB;}
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virtual int getShapeType() const { return MINKOWSKI_SUM_SHAPE_PROXYTYPE; }
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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 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 //MINKOWSKI_SUM_SHAPE_H
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