| /* |
| 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 SPHERE_MINKOWSKI_H |
| #define 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_implicitShapeDimensions.setX(radius); |
| m_collisionMargin = radius; |
| } |
| |
| 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 //SPHERE_MINKOWSKI_H |