[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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[7983] | 3 | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
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[1963] | 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #include "btSphereShape.h" |
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| 17 | #include "BulletCollision/CollisionShapes/btCollisionMargin.h" |
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| 18 | |
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| 19 | #include "LinearMath/btQuaternion.h" |
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| 20 | |
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| 21 | btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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| 22 | { |
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| 23 | (void)vec; |
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| 24 | return btVector3(btScalar(0.),btScalar(0.),btScalar(0.)); |
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| 25 | } |
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| 26 | |
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| 27 | void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 28 | { |
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| 29 | (void)vectors; |
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| 30 | |
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| 31 | for (int i=0;i<numVectors;i++) |
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| 32 | { |
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| 33 | supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.)); |
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| 34 | } |
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| 35 | } |
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| 36 | |
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| 37 | |
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| 38 | btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const |
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| 39 | { |
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| 40 | btVector3 supVertex; |
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| 41 | supVertex = localGetSupportingVertexWithoutMargin(vec); |
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| 42 | |
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| 43 | btVector3 vecnorm = vec; |
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| 44 | if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) |
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| 45 | { |
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| 46 | vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); |
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| 47 | } |
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| 48 | vecnorm.normalize(); |
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| 49 | supVertex+= getMargin() * vecnorm; |
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| 50 | return supVertex; |
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| 51 | } |
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| 52 | |
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| 53 | |
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| 54 | //broken due to scaling |
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| 55 | void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
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| 56 | { |
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| 57 | const btVector3& center = t.getOrigin(); |
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| 58 | btVector3 extent(getMargin(),getMargin(),getMargin()); |
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| 59 | aabbMin = center - extent; |
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| 60 | aabbMax = center + extent; |
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| 61 | } |
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| 62 | |
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| 63 | |
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| 64 | |
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| 65 | void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
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| 66 | { |
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| 67 | btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin(); |
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| 68 | inertia.setValue(elem,elem,elem); |
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| 69 | |
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| 70 | } |
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| 71 | |
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