Update Files

lib/haxebullet/bullet/BulletCollision/CollisionShapes/btSphereShape.h

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+/*
+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_localScaling.setValue(1.0, 1.0, 1.0);
+		m_implicitShapeDimensions.setZero();
+		m_implicitShapeDimensions.setX(radius);
+		m_collisionMargin = radius;
+		m_padding = 0;
+	}
+	
+	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