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source: code/trunk/src/bullet/BulletCollision/CollisionShapes/btSphereShape.h @ 3188

Last change on this file since 3188 was 2882, checked in by rgrieder, 16 years ago

Update from Bullet 2.73 to 2.74.

  • Property svn:eol-style set to native
File size: 2.6 KB
RevLine 
[1963]1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef SPHERE_MINKOWSKI_H
17#define SPHERE_MINKOWSKI_H
18
19#include "btConvexInternalShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
23ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
24
25{
26       
27public:
28        BT_DECLARE_ALIGNED_ALLOCATOR();
29
[2430]30        btSphereShape (btScalar radius) : btConvexInternalShape ()
31        {
32                m_shapeType = SPHERE_SHAPE_PROXYTYPE;
33                m_implicitShapeDimensions.setX(radius);
34                m_collisionMargin = radius;
35        }
[1963]36       
37        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
38        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
39        //notice that the vectors should be unit length
40        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
41
42
43        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
44
45        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
46
47
48        btScalar        getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
49
[2882]50        void    setUnscaledRadius(btScalar      radius)
51        {
52                m_implicitShapeDimensions.setX(radius);
53                btConvexInternalShape::setMargin(radius);
54        }
55
[1963]56        //debugging
57        virtual const char*     getName()const {return "SPHERE";}
58
59        virtual void    setMargin(btScalar margin)
60        {
61                btConvexInternalShape::setMargin(margin);
62        }
63        virtual btScalar        getMargin() const
64        {
65                //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
66                //this means, non-uniform scaling is not supported anymore
67                return getRadius();
68        }
69
70
71};
72
73
74#endif //SPHERE_MINKOWSKI_H
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