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 represents implicit (localGetSupportingVertex
)
based Minkowski sum of two convex implicit shapes.
MinkowskiSumShape
public MinkowskiSumShape(ConvexShape shapeA,
ConvexShape shapeB)
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)