diff options
Diffstat (limited to 'libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs | 198 |
1 files changed, 99 insertions, 99 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs index 6f70cae..8cdcfbe 100644 --- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/MinkowskiSumShape.cs | |||
@@ -1,99 +1,99 @@ | |||
1 | /* | 1 | /* |
2 | Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru | 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 | 3 | Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com |
4 | 4 | ||
5 | This software is provided 'as-is', without any express or implied | 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 | 6 | warranty. In no event will the authors be held liable for any damages |
7 | arising from the use of this software. | 7 | arising from the use of this software. |
8 | 8 | ||
9 | Permission is granted to anyone to use this software for any purpose, | 9 | Permission is granted to anyone to use this software for any purpose, |
10 | including commercial applications, and to alter it and redistribute it | 10 | including commercial applications, and to alter it and redistribute it |
11 | freely, subject to the following restrictions: | 11 | freely, subject to the following restrictions: |
12 | 12 | ||
13 | 1. The origin of this software must not be misrepresented; you must not | 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 | 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 | 15 | in a product, an acknowledgment in the product documentation would be |
16 | appreciated but is not required. | 16 | appreciated but is not required. |
17 | 2. Altered source versions must be plainly marked as such, and must not be | 17 | 2. Altered source versions must be plainly marked as such, and must not be |
18 | misrepresented as being the original software. | 18 | misrepresented as being the original software. |
19 | 3. This notice may not be removed or altered from any source distribution. | 19 | 3. This notice may not be removed or altered from any source distribution. |
20 | */ | 20 | */ |
21 | 21 | ||
22 | using System; | 22 | using System; |
23 | using System.Collections.Generic; | 23 | using System.Collections.Generic; |
24 | using System.Text; | 24 | using System.Text; |
25 | using MonoXnaCompactMaths; | 25 | using MonoXnaCompactMaths; |
26 | 26 | ||
27 | namespace XnaDevRu.BulletX | 27 | namespace XnaDevRu.BulletX |
28 | { | 28 | { |
29 | /// <summary> | 29 | /// <summary> |
30 | /// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes. | 30 | /// MinkowskiSumShape represents implicit (getSupportingVertex) based minkowski sum of two convex implicit shapes. |
31 | /// </summary> | 31 | /// </summary> |
32 | public class MinkowskiSumShape : ConvexShape | 32 | public class MinkowskiSumShape : ConvexShape |
33 | { | 33 | { |
34 | private Matrix _transformA; | 34 | private Matrix _transformA; |
35 | private Matrix _transformB; | 35 | private Matrix _transformB; |
36 | private ConvexShape _shapeA; | 36 | private ConvexShape _shapeA; |
37 | private ConvexShape _shapeB; | 37 | private ConvexShape _shapeB; |
38 | 38 | ||
39 | public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB) | 39 | public MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB) |
40 | { | 40 | { |
41 | _shapeA = shapeA; | 41 | _shapeA = shapeA; |
42 | _shapeB = shapeB; | 42 | _shapeB = shapeB; |
43 | _transformA = Matrix.Identity; | 43 | _transformA = Matrix.Identity; |
44 | _transformB = Matrix.Identity; | 44 | _transformB = Matrix.Identity; |
45 | } | 45 | } |
46 | 46 | ||
47 | public Matrix TransformA { get { return _transformA; } set { _transformA = value; } } | 47 | public Matrix TransformA { get { return _transformA; } set { _transformA = value; } } |
48 | public Matrix TransformB { get { return _transformB; } set { _transformB = value; } } | 48 | public Matrix TransformB { get { return _transformB; } set { _transformB = value; } } |
49 | public ConvexShape ShapeA { get { return _shapeA; } } | 49 | public ConvexShape ShapeA { get { return _shapeA; } } |
50 | public ConvexShape ShapeB { get { return _shapeB; } } | 50 | public ConvexShape ShapeB { get { return _shapeB; } } |
51 | 51 | ||
52 | public override float Margin | 52 | public override float Margin |
53 | { | 53 | { |
54 | get | 54 | get |
55 | { | 55 | { |
56 | return _shapeA.Margin + _shapeB.Margin; | 56 | return _shapeA.Margin + _shapeB.Margin; |
57 | } | 57 | } |
58 | set | 58 | set |
59 | { | 59 | { |
60 | base.Margin = value; | 60 | base.Margin = value; |
61 | } | 61 | } |
62 | } | 62 | } |
63 | 63 | ||
64 | public override BroadphaseNativeTypes ShapeType | 64 | public override BroadphaseNativeTypes ShapeType |
65 | { | 65 | { |
66 | get | 66 | get |
67 | { | 67 | { |
68 | return BroadphaseNativeTypes.MinkowskiDifference; | 68 | return BroadphaseNativeTypes.MinkowskiDifference; |
69 | } | 69 | } |
70 | } | 70 | } |
71 | 71 | ||
72 | public override string Name | 72 | public override string Name |
73 | { | 73 | { |
74 | get | 74 | get |
75 | { | 75 | { |
76 | return "MinkowskiSum"; | 76 | return "MinkowskiSum"; |
77 | } | 77 | } |
78 | } | 78 | } |
79 | 79 | ||
80 | public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) | 80 | public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) |
81 | { | 81 | { |
82 | Vector3 supVertexA = MathHelper.MatrixToVector(_transformA, _shapeA.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformA))); | 82 | Vector3 supVertexA = MathHelper.MatrixToVector(_transformA, _shapeA.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformA))); |
83 | Vector3 supVertexB = MathHelper.MatrixToVector(_transformB, _shapeB.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformB))); | 83 | Vector3 supVertexB = MathHelper.MatrixToVector(_transformB, _shapeB.LocalGetSupportingVertexWithoutMargin(Vector3.TransformNormal(vec, _transformB))); |
84 | return supVertexA + supVertexB; | 84 | return supVertexA + supVertexB; |
85 | } | 85 | } |
86 | 86 | ||
87 | public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) | 87 | public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) |
88 | { | 88 | { |
89 | for (int i = 0; i < vectors.Length; i++) | 89 | for (int i = 0; i < vectors.Length; i++) |
90 | supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]); | 90 | supportVerticesOut[i] = LocalGetSupportingVertexWithoutMargin(vectors[i]); |
91 | } | 91 | } |
92 | 92 | ||
93 | public override void CalculateLocalInertia(float mass, out Vector3 inertia) | 93 | public override void CalculateLocalInertia(float mass, out Vector3 inertia) |
94 | { | 94 | { |
95 | inertia = new Vector3(); | 95 | inertia = new Vector3(); |
96 | BulletDebug.Assert(false); | 96 | BulletDebug.Assert(false); |
97 | } | 97 | } |
98 | } | 98 | } |
99 | } | 99 | } |