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source: code/branches/physics/src/bullet/BulletCollision/CollisionShapes/btSphereShape.cpp @ 1972

Last change on this file since 1972 was 1972, checked in by rgrieder, 16 years ago

Downgraded Bullet to latest tagged version: 2.72
That should give us more stability.

  • Property svn:eol-style set to native
File size: 2.5 KB
Line 
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#include "btSphereShape.h"
17#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
18
19#include "LinearMath/btQuaternion.h"
20
21
22btSphereShape ::btSphereShape (btScalar radius) : btConvexInternalShape ()
23{
24        m_shapeType = SPHERE_SHAPE_PROXYTYPE;
25        m_implicitShapeDimensions.setX(radius);
26        m_collisionMargin = radius;
27}
28
29btVector3       btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
30{
31        (void)vec;
32        return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
33}
34
35void    btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
36{
37        (void)vectors;
38
39        for (int i=0;i<numVectors;i++)
40        {
41                supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
42        }
43}
44
45
46btVector3       btSphereShape::localGetSupportingVertex(const btVector3& vec)const
47{
48        btVector3 supVertex;
49        supVertex = localGetSupportingVertexWithoutMargin(vec);
50
51        btVector3 vecnorm = vec;
52        if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
53        {
54                vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
55        } 
56        vecnorm.normalize();
57        supVertex+= getMargin() * vecnorm;
58        return supVertex;
59}
60
61
62//broken due to scaling
63void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
64{
65        const btVector3& center = t.getOrigin();
66        btVector3 extent(getMargin(),getMargin(),getMargin());
67        aabbMin = center - extent;
68        aabbMax = center + extent;
69}
70
71
72
73void    btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
74{
75        btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
76        inertia.setValue(elem,elem,elem);
77
78}
79
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