Bullet Collision Detection & Physics Library: btSphereShape.cpp Source File

Bullet Collision Detection & Physics Library

btSphereShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btSphereShape.h"
17#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
18
19#include "LinearMath/btQuaternion.h"
20
21 btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
22{
23 (void)vec;
24 return btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
25}
26
27 void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
28{
29 (void)vectors;
30
31 for (int i = 0; i < numVectors; i++)
32 {
33 supportVerticesOut[i].setValue(btScalar(0.), btScalar(0.), btScalar(0.));
34 }
35}
36
37 btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec) const
38{
39 btVector3 supVertex;
40 supVertex = localGetSupportingVertexWithoutMargin(vec);
41
42 btVector3 vecnorm = vec;
43 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
44 {
45 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
46 }
47 vecnorm.normalize();
48 supVertex += getMargin() * vecnorm;
49 return supVertex;
50}
51
52//broken due to scaling
53 void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
54{
55 const btVector3& center = t.getOrigin();
56 btVector3 extent(getMargin(), getMargin(), getMargin());
57 aabbMin = center - extent;
58 aabbMax = center + extent;
59}
60
61 void btSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
62{
63 btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin();
64 inertia.setValue(elem, elem, elem);
65}
btCollisionMargin.h
btQuaternion.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btSphereShape.h
btSphereShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btSphereShape.cpp:37
btSphereShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btSphereShape.cpp:53
btSphereShape::getMargin
virtual btScalar getMargin() const
Definition: btSphereShape.h:63
btSphereShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btSphereShape.cpp:61
btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btSphereShape.cpp:27
btSphereShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btSphereShape.cpp:21
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:114
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303