74 lines
2.6 KiB
C
74 lines
2.6 KiB
C
|
/*
|
||
|
|
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 BT_SPHERE_MINKOWSKI_H
|
||
|
|
#define BT_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 //BT_SPHERE_MINKOWSKI_H
|