com.bulletphysics.collision.shapes
Class MinkowskiSumShape

java.lang.Object
  com.bulletphysics.collision.shapes.CollisionShape
      com.bulletphysics.collision.shapes.ConvexShape
          com.bulletphysics.collision.shapes.ConvexInternalShape
              com.bulletphysics.collision.shapes.MinkowskiSumShape

public class MinkowskiSumShape
extends ConvexInternalShape

MinkowskiSumShape is only for advanced users. This shape represents implicit based minkowski sum of two convex implicit shapes.

Field Summary

Fields inherited from class com.bulletphysics.collision.shapes.ConvexShape

MAX_PREFERRED_PENETRATION_DIRECTIONS

Constructor Summary

MinkowskiSumShape(ConvexShape shapeA, ConvexShape shapeB)

Method Summary

void	batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors)
void	calculateLocalInertia(float mass, Vector3f inertia)
void	getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.
float	getMargin()
String	getName()
BroadphaseNativeType	getShapeType()
void	getTransformA(Transform dest)
void	getTransformB(Transform dest)
Vector3f	localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out)
void	setTransformA(Transform transA)
void	setTransformB(Transform transB)

Methods inherited from class com.bulletphysics.collision.shapes.ConvexInternalShape

getAabbSlow, getLocalScaling, getNumPreferredPenetrationDirections, getPreferredPenetrationDirection, localGetSupportingVertex, setLocalScaling, setMargin

Methods inherited from class com.bulletphysics.collision.shapes.CollisionShape

calculateTemporalAabb, getAngularMotionDisc, getBoundingSphere, getUserPointer, isCompound, isConcave, isConvex, isInfinite, isPolyhedral, setUserPointer

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

MinkowskiSumShape

public MinkowskiSumShape(ConvexShape shapeA,
                         ConvexShape shapeB)

Method Detail

localGetSupportingVertexWithoutMargin

public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec,
                                                      Vector3f out)

Specified by:

localGetSupportingVertexWithoutMargin in class ConvexShape

batchedUnitVectorGetSupportingVertexWithoutMargin

public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors,
                                                              Vector3f[] supportVerticesOut,
                                                              int numVectors)

Specified by:

batchedUnitVectorGetSupportingVertexWithoutMargin in class ConvexShape

getAabb

public void getAabb(Transform t,
                    Vector3f aabbMin,
                    Vector3f aabbMax)

Description copied from class: ConvexInternalShape

getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version.

Overrides:

getAabb in class ConvexInternalShape

getShapeType

public BroadphaseNativeType getShapeType()

Specified by:

getShapeType in class CollisionShape

calculateLocalInertia

public void calculateLocalInertia(float mass,
                                  Vector3f inertia)

Specified by:

calculateLocalInertia in class CollisionShape

getName

public String getName()

Specified by:

getName in class CollisionShape

getMargin

public float getMargin()

Overrides:

getMargin in class ConvexInternalShape

setTransformA

public void setTransformA(Transform transA)

setTransformB

public void setTransformB(Transform transB)

getTransformA

public void getTransformA(Transform dest)

getTransformB

public void getTransformB(Transform dest)