Bullet Collision Detection & Physics Library: btMinkowskiSumShape.h Source File

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btMinkowskiSumShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
23 ATTRIBUTE_ALIGNED16(class)
24 btMinkowskiSumShape : public btConvexInternalShape
25{
26 btTransform m_transA;
27 btTransform m_transB;
28 const btConvexShape* m_shapeA;
29 const btConvexShape* m_shapeB;
30
31public:
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB);
35
36 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
37
38 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
39
40 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
41
42 void setTransformA(const btTransform& transA) { m_transA = transA; }
43 void setTransformB(const btTransform& transB) { m_transB = transB; }
44
45 const btTransform& getTransformA() const { return m_transA; }
46 const btTransform& getTransformB() const { return m_transB; }
47
48 // keep this for backward compatibility
49 const btTransform& GetTransformB() const { return m_transB; }
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
btBroadphaseProxy.h
btConvexInternalShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:33
btMinkowskiSumShape
The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski su...
Definition: btMinkowskiSumShape.h:25
btMinkowskiSumShape::getShapeA
const btConvexShape * getShapeA() const
Definition: btMinkowskiSumShape.h:53
btMinkowskiSumShape::getTransformA
const btTransform & getTransformA() const
Definition: btMinkowskiSumShape.h:45
btMinkowskiSumShape::GetTransformB
const btTransform & GetTransformB() const
Definition: btMinkowskiSumShape.h:49
btMinkowskiSumShape::getName
virtual const char * getName() const
Definition: btMinkowskiSumShape.h:56
btMinkowskiSumShape::getShapeB
const btConvexShape * getShapeB() const
Definition: btMinkowskiSumShape.h:54
btMinkowskiSumShape::m_shapeB
const btConvexShape * m_shapeB
Definition: btMinkowskiSumShape.h:29
btMinkowskiSumShape::setTransformA
void setTransformA(const btTransform &transA)
Definition: btMinkowskiSumShape.h:42
btMinkowskiSumShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btMinkowskiSumShape::setTransformB
void setTransformB(const btTransform &transB)
Definition: btMinkowskiSumShape.h:43
btMinkowskiSumShape::getTransformB
const btTransform & getTransformB() const
Definition: btMinkowskiSumShape.h:46
btMinkowskiSumShape::m_shapeA
const btConvexShape * m_shapeA
Definition: btMinkowskiSumShape.h:28
btMinkowskiSumShape::m_transB
btTransform m_transB
Definition: btMinkowskiSumShape.h:27
btMinkowskiSumShape::m_transA
btTransform m_transA
Definition: btMinkowskiSumShape.h:26
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82