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 
38 {
39  btVector3 supVertex;
41 
42  btVector3 vecnorm = vec;
43  if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
44  {
45  vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
46  }
47  vecnorm.normalize();
48  supVertex += getMargin() * vecnorm;
49  return supVertex;
50 }
51 
52 //broken due to scaling
53 void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
54 {
55  const btVector3& center = t.getOrigin();
56  btVector3 extent(getMargin(), getMargin(), getMargin());
57  aabbMin = center - extent;
58  aabbMax = center + extent;
59 }
60 
62 {
63  btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin();
64  inertia.setValue(elem, elem, elem);
65 }
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionMargin.h
btSphereShape::getMargin
virtual btScalar getMargin() const
Definition: btSphereShape.h:63
btSphereShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btSphereShape.cpp:37
btSphereShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btSphereShape.cpp:21
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btQuaternion.h
btSphereShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btSphereShape.cpp:61
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btSphereShape.h
btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btSphereShape.cpp:27
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btSphereShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btSphereShape.cpp:53
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251