diff options
author | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
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committer | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
commit | ed59822857de7e7b41b33b79c306f5e9b8755c62 (patch) | |
tree | aa15011ba1df16a98d023acf2a276b265bd3ceda /extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h | |
parent | 22bca493b23904c4dee7130f5737005f8558a26d (diff) |
== SoC Bullet - Bullet Upgrade to 2.76 ==
Updated Blender's Bullet to 2.76 in this branch only.
This update was done by:
1) deleting the contents of the existing extern/bullet2/src directory (leaving the .svn folder in place),
2) copy/pasting the contents of the bullet/src directory (from unzipped Bullet archive) into this newly cleared folder.
Hopefully there aren't any patches that are still needed from the Bullet we had in source.
---
Note: I didn't use Moguri's patch, since that was giving me compile errors with headers not being able to be found.
[[Split portion of a mixed commit.]]
Diffstat (limited to 'extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h')
-rw-r--r-- | extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h | 73 |
1 files changed, 73 insertions, 0 deletions
diff --git a/extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h new file mode 100644 index 00000000000..f98372442ba --- /dev/null +++ b/extern/bullet2/BulletCollision/CollisionShapes/btSphereShape.h @@ -0,0 +1,73 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ +#ifndef SPHERE_MINKOWSKI_H +#define SPHERE_MINKOWSKI_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btSphereShape implements an implicit sphere, centered around a local origin with radius. +ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape + +{ + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btSphereShape (btScalar radius) : btConvexInternalShape () + { + m_shapeType = SPHERE_SHAPE_PROXYTYPE; + m_implicitShapeDimensions.setX(radius); + m_collisionMargin = radius; + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec)const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + //notice that the vectors should be unit length + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + + btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();} + + void setUnscaledRadius(btScalar radius) + { + m_implicitShapeDimensions.setX(radius); + btConvexInternalShape::setMargin(radius); + } + + //debugging + virtual const char* getName()const {return "SPHERE";} + + virtual void setMargin(btScalar margin) + { + btConvexInternalShape::setMargin(margin); + } + virtual btScalar getMargin() const + { + //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case + //this means, non-uniform scaling is not supported anymore + return getRadius(); + } + + +}; + + +#endif //SPHERE_MINKOWSKI_H |