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

Bullet Collision Detection & Physics Library

btMinkowskiSumShape.cpp
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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
17 #include "btMinkowskiSumShape.h"
18
19
20 btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
21 : btConvexInternalShape (),
22 m_shapeA(shapeA),
23 m_shapeB(shapeB)
24 {
25 m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
26 m_transA.setIdentity();
27 m_transB.setIdentity();
28 }
29
30 btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31 {
32 btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
33 btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
34 return supVertexA - supVertexB;
35 }
36
37 void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
38 {
40 for (int i=0;i<numVectors;i++)
41 {
42 supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
43 }
44
45 }
46
47
48
49 btScalar btMinkowskiSumShape::getMargin() const
50 {
51 return m_shapeA->getMargin() + m_shapeB->getMargin();
52 }
53
54
55 void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
56 {
57 (void)mass;
58 btAssert(0);
59 inertia.setValue(0,0,0);
60 }
btMinkowskiSumShape::m_shapeB
const btConvexShape * m_shapeB
Definition: btMinkowskiSumShape.h:29
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:48
btMinkowskiSumShape::getMargin
virtual btScalar getMargin() const
Definition: btMinkowskiSumShape.cpp:49
btMinkowskiSumShape::btMinkowskiSumShape
btMinkowskiSumShape(const btConvexShape *shapeA, const btConvexShape *shapeB)
Definition: btMinkowskiSumShape.cpp:20
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:650
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:29
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btAssert
#define btAssert(x)
Definition: btScalar.h:114
btMinkowskiSumShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btMinkowskiSumShape.cpp:30
btConvexShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const =0
btConvexShape
The btConvexShape is an abstract shape interface, implemented by all convex shapes such as btBoxShape...
Definition: btConvexShape.h:31
btMinkowskiSumShape::m_shapeA
const btConvexShape * m_shapeA
Definition: btMinkowskiSumShape.h:28
btMinkowskiSumShape::m_transB
btTransform m_transB
Definition: btMinkowskiSumShape.h:27
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btConvexShape::getMargin
virtual btScalar getMargin() const =0
btMinkowskiSumShape::m_transA
btTransform m_transA
Definition: btMinkowskiSumShape.h:26
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btMinkowskiSumShape.cpp:37
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279
btMinkowskiSumShape.h
btMinkowskiSumShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btMinkowskiSumShape.cpp:55