~siretart/ubuntu/utopic/blender/libav10

/*

 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/

 *

 * Permission to use, copy, modify, distribute and sell this software

 * and its documentation for any purpose is hereby granted without fee,

 * provided that the above copyright notice appear in all copies.

 * Erwin Coumans makes no representations about the suitability 

 * of this software for any purpose.  

 * It is provided "as is" without express or implied warranty.

*/

#include "MinkowskiSumShape.h"

 

 

MinkowskiSumShape::MinkowskiSumShape(ConvexShape* shapeA,ConvexShape* shapeB)

:m_shapeA(shapeA),

m_shapeB(shapeB)

{

        m_transA.setIdentity();

        m_transB.setIdentity();

}

 

SimdVector3 MinkowskiSumShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const

{

        SimdVector3 supVertexA = m_transA(m_shapeA->LocalGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));

        SimdVector3 supVertexB = m_transB(m_shapeB->LocalGetSupportingVertexWithoutMargin(vec*m_transB.getBasis()));

        return supVertexA + supVertexB;

}

 

float   MinkowskiSumShape::GetMargin() const

{

        return m_shapeA->GetMargin() + m_shapeB->GetMargin();

}

 

 

void    MinkowskiSumShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)

{

        assert(0);

        inertia.setValue(0,0,0);

}