diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp | 71 |
1 files changed, 71 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp new file mode 100644 index 0000000000..b9a736c0fd --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp @@ -0,0 +1,71 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +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. +*/ + +#include "btSphereShape.h" +#include "BulletCollision/CollisionShapes/btCollisionMargin.h" + +#include "LinearMath/btQuaternion.h" + +btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const +{ + (void)vec; + return btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); +} + +void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const +{ + (void)vectors; + + for (int i=0;i<numVectors;i++) + { + supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.)); + } +} + + +btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const +{ + btVector3 supVertex; + supVertex = localGetSupportingVertexWithoutMargin(vec); + + btVector3 vecnorm = vec; + if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) + { + vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); + } + vecnorm.normalize(); + supVertex+= getMargin() * vecnorm; + return supVertex; +} + + +//broken due to scaling +void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + const btVector3& center = t.getOrigin(); + btVector3 extent(getMargin(),getMargin(),getMargin()); + aabbMin = center - extent; + aabbMax = center + extent; +} + + + +void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin(); + inertia.setValue(elem,elem,elem); + +} + |