btMinkowskiSumShape.cpp

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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 
00017 #include "btMinkowskiSumShape.h"
00018 
00019 
00020 btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
00021 : btConvexInternalShape (),
00022 m_shapeA(shapeA),
00023 m_shapeB(shapeB)
00024 {
00025         m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
00026         m_transA.setIdentity();
00027         m_transB.setIdentity();
00028 }
00029 
00030 btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
00031 {
00032         btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
00033         btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
00034         return  supVertexA - supVertexB;
00035 }
00036 
00037 void    btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
00038 {
00040         for (int i=0;i<numVectors;i++)
00041         {
00042                 supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
00043         }
00044 
00045 }
00046 
00047 
00048 
00049 btScalar        btMinkowskiSumShape::getMargin() const
00050 {
00051         return m_shapeA->getMargin() + m_shapeB->getMargin();
00052 }
00053 
00054 
00055 void    btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00056 {
00057         (void)mass;
00058         btAssert(0);
00059         inertia.setValue(0,0,0);
00060 }