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