Bullet Collision Detection & Physics Library
btSphereShape.h
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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 #ifndef BT_SPHERE_MINKOWSKI_H
16 #define BT_SPHERE_MINKOWSKI_H
17 
18 #include "btConvexInternalShape.h"
20 
23 
24 {
25 
26 public:
28 
29  btSphereShape (btScalar radius) : btConvexInternalShape ()
30  {
31  m_shapeType = SPHERE_SHAPE_PROXYTYPE;
32  m_implicitShapeDimensions.setX(radius);
33  m_collisionMargin = radius;
34  }
35 
36  virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;
37  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
38  //notice that the vectors should be unit length
39  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
40 
41 
42  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
43 
44  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
45 
46 
47  btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
48 
50  {
51  m_implicitShapeDimensions.setX(radius);
53  }
54 
55  //debugging
56  virtual const char* getName()const {return "SPHERE";}
57 
58  virtual void setMargin(btScalar margin)
59  {
61  }
62  virtual btScalar getMargin() const
63  {
64  //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
65  //this means, non-uniform scaling is not supported anymore
66  return getRadius();
67  }
68 
69 
70 };
71 
72 
73 #endif //BT_SPHERE_MINKOWSKI_H
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
The btSphereShape implements an implicit sphere, centered around a local origin with radius...
Definition: btSphereShape.h:22
btSphereShape(btScalar radius)
Definition: btSphereShape.h:29
virtual void setMargin(btScalar margin)
virtual void setMargin(btScalar margin)
Definition: btSphereShape.h:58
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
virtual const char * getName() const
Definition: btSphereShape.h:56
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual btScalar getMargin() const
Definition: btSphereShape.h:62
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btScalar getRadius() const
Definition: btSphereShape.h:47
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
void setUnscaledRadius(btScalar radius)
Definition: btSphereShape.h:49