diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp | 36 |
1 files changed, 15 insertions, 21 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp index b9a736c0fd..027db2e104 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -18,54 +18,48 @@ subject to the following restrictions: #include "LinearMath/btQuaternion.h" -btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const { (void)vec; - return btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); + return btVector3(btScalar(0.), btScalar(0.), btScalar(0.)); } -void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const { (void)vectors; - for (int i=0;i<numVectors;i++) + for (int i = 0; i < numVectors; i++) { - supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + supportVerticesOut[i].setValue(btScalar(0.), btScalar(0.), btScalar(0.)); } } - -btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const +btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec) const { btVector3 supVertex; supVertex = localGetSupportingVertexWithoutMargin(vec); btVector3 vecnorm = vec; - if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON)) { - vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); - } + vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.)); + } vecnorm.normalize(); - supVertex+= getMargin() * vecnorm; + supVertex += getMargin() * vecnorm; return supVertex; } - //broken due to scaling -void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { const btVector3& center = t.getOrigin(); - btVector3 extent(getMargin(),getMargin(),getMargin()); + btVector3 extent(getMargin(), getMargin(), getMargin()); aabbMin = center - extent; aabbMax = center + extent; } - - -void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +void btSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const { - btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin(); - inertia.setValue(elem,elem,elem); - + btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin(); + inertia.setValue(elem, elem, elem); } - |