1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. 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
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const21 btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
22 {
23 (void)vec;
24 return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
25 }
26
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const27 void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
28 {
29 (void)vectors;
30
31 for (int i=0;i<numVectors;i++)
32 {
33 supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
34 }
35 }
36
37
localGetSupportingVertex(const btVector3 & vec) const38 btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const
39 {
40 btVector3 supVertex;
41 supVertex = localGetSupportingVertexWithoutMargin(vec);
42
43 btVector3 vecnorm = vec;
44 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
45 {
46 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
47 }
48 vecnorm.normalize();
49 supVertex+= getMargin() * vecnorm;
50 return supVertex;
51 }
52
53
54 //broken due to scaling
getAabb(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const55 void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
56 {
57 const btVector3& center = t.getOrigin();
58 btVector3 extent(getMargin(),getMargin(),getMargin());
59 aabbMin = center - extent;
60 aabbMax = center + extent;
61 }
62
63
64
calculateLocalInertia(btScalar mass,btVector3 & inertia) const65 void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
66 {
67 btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
68 inertia.setValue(elem,elem,elem);
69
70 }
71
72