| /* |
| 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 "BulletCollision/CollisionShapes/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); |
| |
| } |
| |