forked from bartvdbraak/blender
75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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 "SphereShape.h"
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#include "CollisionShapes/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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}
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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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void SphereShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i].setValue(0.f,0.f,0.f);
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}
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}
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SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
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{
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SimdVector3 supVertex;
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supVertex = LocalGetSupportingVertexWithoutMargin(vec);
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SimdVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(-1.f,-1.f,-1.f);
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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 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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SimdVector3 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 SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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SimdScalar elem = 0.4f * mass * GetMargin()*GetMargin();
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inertia[0] = inertia[1] = inertia[2] = elem;
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}
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