forked from bartvdbraak/blender
74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
/*
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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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}
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SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
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{
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float radius = m_radius - GetMargin();
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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(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius);
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}
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return vec * (m_localScaling*(radius / sqrtf(len)));
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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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if ( GetMargin()!=0.f )
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{
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SimdVector3 vecnorm = vec;
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if (vecnorm .length2() == 0.f)
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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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}
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return supVertex;
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}
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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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SimdScalar radius = m_radius;
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SimdVector3 extent = m_localScaling*radius;
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extent+= SimdVector3(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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*/
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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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} |