Bullet Collision Detection & Physics Library
btSphereShape.cpp
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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"
18 
20 
22 {
23  (void)vec;
24  return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
25 }
26 
27 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 
39 {
40  btVector3 supVertex;
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
55 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 
66 {
67  btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();
68  inertia.setValue(elem,elem,elem);
69 
70 }
71 
#define SIMD_EPSILON
Definition: btScalar.h:521
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual btScalar getMargin() const
Definition: btSphereShape.h:65
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292