btMinkowskiSumShape.h

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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 #ifndef BT_MINKOWSKI_SUM_SHAPE_H
00017 #define BT_MINKOWSKI_SUM_SHAPE_H
00018 
00019 #include "btConvexInternalShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00023 ATTRIBUTE_ALIGNED16(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 BT_DECLARE_ALIGNED_ALLOCATOR();
00034 
00035         btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
00036 
00037         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00038 
00039         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00040 
00041 
00042         virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00043 
00044         void    setTransformA(const btTransform&        transA) { m_transA = transA;}
00045         void    setTransformB(const btTransform&        transB) { m_transB = transB;}
00046 
00047         const btTransform& getTransformA()const  { return m_transA;}
00048         const btTransform& GetTransformB()const  { return m_transB;}
00049 
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 //BT_MINKOWSKI_SUM_SHAPE_H