Bullet Collision Detection & Physics Library
btMinkowskiSumShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_MINKOWSKI_SUM_SHAPE_H
17 #define BT_MINKOWSKI_SUM_SHAPE_H
18 
19 #include "btConvexInternalShape.h"
21 
24 {
25 
30 
31 public:
32 
34 
35  btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);
36 
37  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
38 
39  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
40 
41 
42  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
43 
44  void setTransformA(const btTransform& transA) { m_transA = transA;}
45  void setTransformB(const btTransform& transB) { m_transB = transB;}
46 
47  const btTransform& getTransformA()const { return m_transA;}
48  const btTransform& GetTransformB()const { return m_transB;}
49 
50 
51  virtual btScalar getMargin() const;
52 
53  const btConvexShape* getShapeA() const { return m_shapeA;}
54  const btConvexShape* getShapeB() const { return m_shapeB;}
55 
56  virtual const char* getName()const
57  {
58  return "MinkowskiSum";
59  }
60 };
61 
62 #endif //BT_MINKOWSKI_SUM_SHAPE_H
const btConvexShape * m_shapeB
const btTransform & getTransformA() const
void setTransformB(const btTransform &transB)
void setTransformA(const btTransform &transA)
const btTransform & GetTransformB() const
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
const btConvexShape * getShapeB() const
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
virtual const char * getName() const
const btConvexShape * getShapeA() const
const btConvexShape * m_shapeA
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292