diff options
Diffstat (limited to 'extern/bullet/Bullet/CollisionShapes/SphereShape.cpp')
| -rw-r--r-- | extern/bullet/Bullet/CollisionShapes/SphereShape.cpp | 36 |
1 files changed, 11 insertions, 25 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp index bbffb8137de..37d34a65948 100644 --- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp +++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp @@ -22,14 +22,7 @@ SphereShape ::SphereShape (SimdScalar radius) SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const { - float radius = m_radius - GetMargin(); - - SimdScalar len = vec.length2(); - if (SimdFabs(len) < 0.0001f) - { - return SimdVector3(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius); - } - return vec * (m_localScaling*(radius / SimdSqrt(len))); + return SimdVector3(0.f,0.f,0.f); } SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const @@ -37,38 +30,31 @@ SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const SimdVector3 supVertex; supVertex = LocalGetSupportingVertexWithoutMargin(vec); - if ( GetMargin()!=0.f ) + SimdVector3 vecnorm = vec; + if (SimdFuzzyZero(vecnorm .length2())) { - SimdVector3 vecnorm = vec; - if (vecnorm .length2() == 0.f) - { - vecnorm.setValue(-1.f,-1.f,-1.f); - } - vecnorm.normalize(); - supVertex+= GetMargin() * vecnorm; - } + 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; - - SimdVector3 extent = m_localScaling*radius; - extent+= SimdVector3(GetMargin(),GetMargin(),GetMargin()); - + SimdVector3 extent(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 * GetMargin()*GetMargin(); inertia[0] = inertia[1] = inertia[2] = elem; }
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