75 lines
2.4 KiB
C++
75 lines
2.4 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef MULTI_SPHERE_MINKOWSKI_H
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#define MULTI_SPHERE_MINKOWSKI_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#define MAX_NUM_SPHERES 5
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///btMultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
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class btMultiSphereShape : public btConvexInternalShape
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{
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btVector3 m_localPositions[MAX_NUM_SPHERES];
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btScalar m_radi[MAX_NUM_SPHERES];
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btVector3 m_inertiaHalfExtents;
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int m_numSpheres;
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public:
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btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres);
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///CollisionShape Interface
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia);
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/// btConvexShape Interface
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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int getSphereCount() const
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{
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return m_numSpheres;
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}
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const btVector3& getSpherePosition(int index) const
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{
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return m_localPositions[index];
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}
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btScalar getSphereRadius(int index) const
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{
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return m_radi[index];
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}
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virtual int getShapeType() const { return MULTI_SPHERE_SHAPE_PROXYTYPE; }
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virtual const char* getName()const
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{
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return "MultiSphere";
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}
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};
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#endif //MULTI_SPHERE_MINKOWSKI_H
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