diff options
Diffstat (limited to 'extern/bullet/Bullet/CollisionShapes/SphereShape.cpp')
| -rw-r--r-- | extern/bullet/Bullet/CollisionShapes/SphereShape.cpp | 44 |
1 files changed, 30 insertions, 14 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp index 182b458ec7b..6afb0fe5091 100644 --- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp @@ -17,42 +17,58 @@ SphereShape ::SphereShape (SimdScalar radius) : m_radius(radius) -{ - SetMargin( radius ); +{ } SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const { - return SimdVector3(0.f,0.f,0.f); -} + float radius = m_radius - GetMargin(); -SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const -{ SimdScalar len = vec.length2(); if (fabsf(len) < 0.0001f) { - return SimdVector3(GetMargin(),GetMargin(),GetMargin()); + return SimdVector3(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius); } - return vec * (GetMargin() / sqrtf(len)); + return vec * (m_localScaling*(radius / sqrtf(len))); } +SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const +{ + SimdVector3 supVertex; + supVertex = LocalGetSupportingVertexWithoutMargin(vec); + if ( GetMargin()!=0.f ) + { + SimdVector3 vecnorm = vec; + if (vecnorm .length2() == 0.f) + { + 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(); - SimdScalar radius = m_radius + CONVEX_DISTANCE_MARGIN; - radius += 1; - - const SimdVector3 extent(radius,radius,radius); + SimdScalar radius = m_radius; + + SimdVector3 extent = m_localScaling*radius; + extent+= SimdVector3(GetMargin(),GetMargin(),GetMargin()); aabbMin = center - extent; aabbMax = center + extent; } - +*/ void SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) { - SimdScalar elem = 0.4f * mass * m_radius*m_radius; + SimdScalar elem = 0.4f * mass * m_radius*m_radius; inertia[0] = inertia[1] = inertia[2] = elem; + }
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