blob: 82c00ea43ebbcce0bc913c28e6007ad9f12eb934 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
|
/*
* 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.
*/
#ifndef SPHERE_MINKOWSKI_H
#define SPHERE_MINKOWSKI_H
#include "ConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
///SphereShape implements an implicit (getSupportingVertex) Sphere
class SphereShape : public ConvexShape
{
SimdScalar m_radius;
public:
SphereShape (SimdScalar radius);
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
//virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
virtual int GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
SimdScalar GetRadius() { return m_radius;}
//debugging
virtual char* GetName()const {return "SPHERE";}
};
#endif //SPHERE_MINKOWSKI_H
|