72 lines
2.3 KiB
C++
72 lines
2.3 KiB
C++
/*
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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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#include "btSphereShape.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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#include "LinearMath/btQuaternion.h"
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btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
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{
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(void)vec;
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return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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(void)vectors;
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));
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}
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}
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btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const
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{
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btVector3 supVertex;
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supVertex = localGetSupportingVertexWithoutMargin(vec);
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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return supVertex;
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}
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//broken due to scaling
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void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
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{
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const btVector3& center = t.getOrigin();
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btVector3 extent(getMargin(),getMargin(),getMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
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inertia.setValue(elem,elem,elem);
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}
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