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Diffstat (limited to '')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs new file mode 100644 index 0000000..6f70cae --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs | |||
@@ -0,0 +1,99 @@ | |||
1 | /* | ||
2 | Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru | ||
3 | Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com | ||
4 | |||
5 | This software is provided 'as-is', without any express or implied | ||
6 | warranty. In no event will the authors be held liable for any damages | ||
7 | arising from the use of this software. | ||
8 | |||
9 | Permission is granted to anyone to use this software for any purpose, | ||
10 | including commercial applications, and to alter it and redistribute it | ||
11 | freely, subject to the following restrictions: | ||
12 | |||
13 | 1. The origin of this software must not be misrepresented; you must not | ||
14 | claim that you wrote the original software. If you use this software | ||
15 | in a product, an acknowledgment in the product documentation would be | ||
16 | appreciated but is not required. | ||
17 | 2. Altered source versions must be plainly marked as such, and must not be | ||
18 | misrepresented as being the original software. | ||
19 | 3. This notice may not be removed or altered from any source distribution. | ||
20 | */ | ||
21 | |||
22 | using System; | ||
23 | using System.Collections.Generic; | ||
24 | using System.Text; | ||
25 | using MonoXnaCompactMaths; | ||
26 | |||
27 | namespace XnaDevRu.BulletX | ||
28 | { | ||
29 | /// <summary> | ||
30 | /// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes. | ||
31 | /// </summary> | ||
32 | public class MinkowskiSumShape : ConvexShape | ||
33 | { | ||
34 | private Matrix _transformA; | ||
35 | private Matrix _transformB; | ||
36 | private ConvexShape _shapeA; | ||
37 | private ConvexShape _shapeB; | ||
38 | |||
39 | public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB) | ||
40 | { | ||
41 | _shapeA = shapeA; | ||
42 | _shapeB = shapeB; | ||
43 | _transformA = Matrix.Identity; | ||
44 | _transformB = Matrix.Identity; | ||
45 | } | ||
46 | |||
47 | public Matrix TransformA { get { return _transformA; } set { _transformA = value; } } | ||
48 | public Matrix TransformB { get { return _transformB; } set { _transformB = value; } } | ||
49 | public ConvexShape ShapeA { get { return _shapeA; } } | ||
50 | public ConvexShape ShapeB { get { return _shapeB; } } | ||
51 | |||
52 | public override float Margin | ||
53 | { | ||
54 | get | ||
55 | { | ||
56 | return _shapeA.Margin + _shapeB.Margin; | ||
57 | } | ||
58 | set | ||
59 | { | ||
60 | base.Margin = value; | ||
61 | } | ||
62 | } | ||
63 | |||
64 | public override BroadphaseNativeTypes ShapeType | ||
65 | { | ||
66 | get | ||
67 | { | ||
68 | return BroadphaseNativeTypes.MinkowskiDifference; | ||
69 | } | ||
70 | } | ||
71 | |||
72 | public override string Name | ||
73 | { | ||
74 | get | ||
75 | { | ||
76 | return "MinkowskiSum"; | ||
77 | } | ||
78 | } | ||
79 | |||
80 | public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) | ||
81 | { | ||
82 | Vector3 supVertexA = MathHelper.MatrixToVector(_transformA, _shapeA.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformA))); | ||
83 | Vector3 supVertexB = MathHelper.MatrixToVector(_transformB, _shapeB.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformB))); | ||
84 | return supVertexA + supVertexB; | ||
85 | } | ||
86 | |||
87 | public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) | ||
88 | { | ||
89 | for (int i = 0; i < vectors.Length; i++) | ||
90 | supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]); | ||
91 | } | ||
92 | |||
93 | public override void CalculateLocalInertia(float mass, out Vector3 inertia) | ||
94 | { | ||
95 | inertia = new Vector3(); | ||
96 | BulletDebug.Assert(false); | ||
97 | } | ||
98 | } | ||
99 | } | ||