[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 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 | #ifndef SPHERE_MINKOWSKI_H |
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| 17 | #define SPHERE_MINKOWSKI_H |
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| 18 | |
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| 19 | #include "btConvexInternalShape.h" |
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| 20 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
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| 21 | |
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| 22 | ///The btSphereShape implements an implicit sphere, centered around a local origin with radius. |
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| 23 | ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape |
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| 24 | |
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| 25 | { |
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| 26 | |
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| 27 | public: |
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| 28 | BT_DECLARE_ALIGNED_ALLOCATOR(); |
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| 29 | |
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[2430] | 30 | btSphereShape (btScalar radius) : btConvexInternalShape () |
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| 31 | { |
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| 32 | m_shapeType = SPHERE_SHAPE_PROXYTYPE; |
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| 33 | m_implicitShapeDimensions.setX(radius); |
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| 34 | m_collisionMargin = radius; |
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| 35 | } |
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[1963] | 36 | |
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| 37 | virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; |
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| 38 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 39 | //notice that the vectors should be unit length |
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| 40 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 41 | |
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| 42 | |
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| 43 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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| 44 | |
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| 45 | virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 46 | |
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| 47 | |
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| 48 | btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} |
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| 49 | |
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[2882] | 50 | void setUnscaledRadius(btScalar radius) |
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| 51 | { |
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| 52 | m_implicitShapeDimensions.setX(radius); |
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| 53 | btConvexInternalShape::setMargin(radius); |
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| 54 | } |
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| 55 | |
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[1963] | 56 | //debugging |
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| 57 | virtual const char* getName()const {return "SPHERE";} |
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| 58 | |
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| 59 | virtual void setMargin(btScalar margin) |
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| 60 | { |
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| 61 | btConvexInternalShape::setMargin(margin); |
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| 62 | } |
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| 63 | virtual btScalar getMargin() const |
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| 64 | { |
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| 65 | //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case |
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| 66 | //this means, non-uniform scaling is not supported anymore |
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| 67 | return getRadius(); |
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| 68 | } |
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| 69 | |
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| 70 | |
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| 71 | }; |
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| 72 | |
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| 73 | |
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| 74 | #endif //SPHERE_MINKOWSKI_H |
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