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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h | 76 |
1 files changed, 76 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h new file mode 100644 index 0000000000..50561f7f54 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h @@ -0,0 +1,76 @@ +/* +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. +*/ +#ifndef BT_SPHERE_MINKOWSKI_H +#define BT_SPHERE_MINKOWSKI_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btSphereShape implements an implicit sphere, centered around a local origin with radius. +ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape + +{ + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btSphereShape (btScalar radius) : btConvexInternalShape () + { + m_shapeType = SPHERE_SHAPE_PROXYTYPE; + m_localScaling.setValue(1.0, 1.0, 1.0); + m_implicitShapeDimensions.setZero(); + m_implicitShapeDimensions.setX(radius); + m_collisionMargin = radius; + m_padding = 0; + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} + + void setUnscaledRadius(btScalar radius) + { + m_implicitShapeDimensions.setX(radius); + btConvexInternalShape::setMargin(radius); + } + + //debugging + virtual const char* getName()const {return "SPHERE";} + + virtual void setMargin(btScalar margin) + { + btConvexInternalShape::setMargin(margin); + } + virtual btScalar getMargin() const + { + //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case + //this means, non-uniform scaling is not supported anymore + return getRadius(); + } + + +}; + + +#endif //BT_SPHERE_MINKOWSKI_H |