77 lines
2.7 KiB
C
77 lines
2.7 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SPHERE_MINKOWSKI_H
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#define BT_SPHERE_MINKOWSKI_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
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ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
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{
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btSphereShape (btScalar radius) : btConvexInternalShape ()
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{
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m_shapeType = SPHERE_SHAPE_PROXYTYPE;
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m_localScaling.setValue(1.0, 1.0, 1.0);
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m_implicitShapeDimensions.setZero();
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m_implicitShapeDimensions.setX(radius);
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m_collisionMargin = radius;
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m_padding = 0;
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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//notice that the vectors should be unit length
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
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void setUnscaledRadius(btScalar radius)
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{
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m_implicitShapeDimensions.setX(radius);
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btConvexInternalShape::setMargin(radius);
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}
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//debugging
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virtual const char* getName()const {return "SPHERE";}
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virtual void setMargin(btScalar margin)
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{
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btConvexInternalShape::setMargin(margin);
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}
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virtual btScalar getMargin() const
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{
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//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
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//this means, non-uniform scaling is not supported anymore
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return getRadius();
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}
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};
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#endif //BT_SPHERE_MINKOWSKI_H
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