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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "SphereShape.h"
#include "NarrowPhaseCollision/CollisionMargin.h"
#include "SimdQuaternion.h"
SphereShape ::SphereShape (SimdScalar radius)
: m_radius(radius)
{
SetMargin( radius );
}
SimdVector3 SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
return SimdVector3(0.f,0.f,0.f);
}
SimdVector3 SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
{
SimdScalar len = vec.length2();
if (fabsf(len) < 0.0001f)
{
return SimdVector3(GetMargin(),GetMargin(),GetMargin());
}
return vec * (GetMargin() / sqrtf(len));
}
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);
aabbMin = center - extent;
aabbMax = center + extent;
}
void SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
SimdScalar elem = 0.4f * mass * m_radius*m_radius;
inertia[0] = inertia[1] = inertia[2] = elem;
}
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