Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h

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extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.h

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	2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.			2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
	3. This notice may not be removed or altered from any source distribution.			3. This notice may not be removed or altered from any source distribution.
	*/			*/

	#ifndef BT_MINKOWSKI_SUM_SHAPE_H			#ifndef BT_MINKOWSKI_SUM_SHAPE_H
	#define BT_MINKOWSKI_SUM_SHAPE_H			#define BT_MINKOWSKI_SUM_SHAPE_H

	#include "btConvexInternalShape.h"			#include "btConvexInternalShape.h"
	#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types			#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types

	/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.			/// The btMinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.
	ATTRIBUTE_ALIGNED16(class) btMinkowskiSumShape : public btConvexInternalShape			ATTRIBUTE_ALIGNED16(class)
				btMinkowskiSumShape : public btConvexInternalShape
	{			{

	btTransform m_transA;			btTransform m_transA;
	btTransform m_transB;			btTransform m_transB;
	const btConvexShape* m_shapeA;			const btConvexShape* m_shapeA;
	const btConvexShape* m_shapeB;			const btConvexShape* m_shapeB;

	public:			public:

	BT_DECLARE_ALIGNED_ALLOCATOR();			BT_DECLARE_ALIGNED_ALLOCATOR();

	btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB);			btMinkowskiSumShape(const btConvexShape* shapeA, const btConvexShape* shapeB);

	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;			virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;

	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;			virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;


	virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;			virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;

	void setTransformA(const btTransform& transA) { m_transA = transA;}			void setTransformA(const btTransform& transA) { m_transA = transA; }
	void setTransformB(const btTransform& transB) { m_transB = transB;}			void setTransformB(const btTransform& transB) { m_transB = transB; }

	const btTransform& getTransformA()const { return m_transA;}			const btTransform& getTransformA() const { return m_transA; }
	const btTransform& GetTransformB()const { return m_transB;}			const btTransform& GetTransformB() const { return m_transB; }


	virtual btScalar getMargin() const;			virtual btScalar getMargin() const;

	const btConvexShape* getShapeA() const { return m_shapeA;}			const btConvexShape* getShapeA() const { return m_shapeA; }
	const btConvexShape* getShapeB() const { return m_shapeB;}			const btConvexShape* getShapeB() const { return m_shapeB; }

	virtual const char* getName()const			virtual const char* getName() const
	{			{
	return "MinkowskiSum";			return "MinkowskiSum";
	}			}
	};			};

	#endif //BT_MINKOWSKI_SUM_SHAPE_H			#endif //BT_MINKOWSKI_SUM_SHAPE_H