forked from bartvdbraak/blender
58 lines
1.5 KiB
C++
58 lines
1.5 KiB
C++
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "SphereShape.h"
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#include "NarrowPhaseCollision/CollisionMargin.h"
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#include "SimdQuaternion.h"
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SphereShape ::SphereShape (SimdScalar radius)
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: m_radius(radius)
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{
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SetMargin( radius );
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}
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SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
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{
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return SimdVector3(0.f,0.f,0.f);
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}
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SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
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{
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SimdScalar len = vec.length2();
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if (fabsf(len) < 0.0001f)
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{
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return SimdVector3(GetMargin(),GetMargin(),GetMargin());
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}
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return vec * (GetMargin() / sqrtf(len));
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}
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void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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const SimdVector3& center = t.getOrigin();
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SimdScalar radius = m_radius + CONVEX_DISTANCE_MARGIN;
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radius += 1;
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const SimdVector3 extent(radius,radius,radius);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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SimdScalar elem = 0.4f * mass * m_radius*m_radius;
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inertia[0] = inertia[1] = inertia[2] = elem;
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}
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