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

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btSphereShape.h
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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#ifndef BT_SPHERE_MINKOWSKI_H
16#define BT_SPHERE_MINKOWSKI_H
17
18#include "btConvexInternalShape.h"
19#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
20
22 ATTRIBUTE_ALIGNED16(class)
23 btSphereShape : public btConvexInternalShape
24
25{
26public:
27 BT_DECLARE_ALIGNED_ALLOCATOR();
28
29 btSphereShape(btScalar radius) : btConvexInternalShape()
30 {
31 m_shapeType = SPHERE_SHAPE_PROXYTYPE;
32 m_localScaling.setValue(1.0, 1.0, 1.0);
33 m_implicitShapeDimensions.setZero();
34 m_implicitShapeDimensions.setX(radius);
35 m_collisionMargin = radius;
36 m_padding = 0;
37 }
38
39 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
40 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
41 //notice that the vectors should be unit length
42 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
43
44 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
45
46 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
47
48 btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX(); }
49
50 void setUnscaledRadius(btScalar radius)
51 {
52 m_implicitShapeDimensions.setX(radius);
53 btConvexInternalShape::setMargin(radius);
54 }
55
56 //debugging
57 virtual const char* getName() const { return "SPHERE"; }
58
59 virtual void setMargin(btScalar margin)
60 {
61 btConvexInternalShape::setMargin(margin);
62 }
63 virtual btScalar getMargin() const
64 {
65 //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
66 //this means, non-uniform scaling is not supported anymore
67 return getRadius();
68 }
69};
70
71#endif //BT_SPHERE_MINKOWSKI_H
btBroadphaseProxy.h
SPHERE_SHAPE_PROXYTYPE
@ SPHERE_SHAPE_PROXYTYPE
Definition btBroadphaseProxy.h:39
btConvexInternalShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition btConvexInternalShape.h:30
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition btConvexInternalShape.h:102
btSphereShape
The btSphereShape implements an implicit sphere, centered around a local origin with radius.
Definition btSphereShape.h:25
btSphereShape::setUnscaledRadius
void setUnscaledRadius(btScalar radius)
Definition btSphereShape.h:50
btSphereShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btSphereShape::getMargin
virtual btScalar getMargin() const
Definition btSphereShape.h:63
btSphereShape::setMargin
virtual void setMargin(btScalar margin)
Definition btSphereShape.h:59
btSphereShape::getName
virtual const char * getName() const
Definition btSphereShape.h:57
btSphereShape::btSphereShape
btSphereShape(btScalar radius)
Definition btSphereShape.h:29
btSphereShape::getRadius
btScalar getRadius() const
Definition btSphereShape.h:48
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82