diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h | 40 |
1 files changed, 19 insertions, 21 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h index b192efeeb8d..75e4fd8e189 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.h @@ -16,58 +16,56 @@ subject to the following restrictions: #define BT_SPHERE_MINKOWSKI_H #include "btConvexInternalShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#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 +ATTRIBUTE_ALIGNED16(class) +btSphereShape : public btConvexInternalShape { - public: BT_DECLARE_ALIGNED_ALLOCATOR(); - btSphereShape (btScalar radius) : btConvexInternalShape () + btSphereShape(btScalar radius) : btConvexInternalShape() { m_shapeType = SPHERE_SHAPE_PROXYTYPE; + m_localScaling.setValue(1.0, 1.0, 1.0); + m_implicitShapeDimensions.setZero(); m_implicitShapeDimensions.setX(radius); m_collisionMargin = radius; + m_padding = 0; } - - 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 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 getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) 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();} + btScalar getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX(); } - void setUnscaledRadius(btScalar radius) + void setUnscaledRadius(btScalar radius) { m_implicitShapeDimensions.setX(radius); btConvexInternalShape::setMargin(radius); } //debugging - virtual const char* getName()const {return "SPHERE";} + virtual const char* getName() const { return "SPHERE"; } - virtual void setMargin(btScalar margin) + virtual void setMargin(btScalar margin) { btConvexInternalShape::setMargin(margin); } - virtual btScalar getMargin() const + 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 //BT_SPHERE_MINKOWSKI_H +#endif //BT_SPHERE_MINKOWSKI_H |