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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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 "CollisionShapes/CollisionMargin.h"
#include "SimdQuaternion.h"
SphereShape ::SphereShape (SimdScalar radius)
: m_radius(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)));
}
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;
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;
inertia[0] = inertia[1] = inertia[2] = elem;
}
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