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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.
*/
#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";}
virtual void SetMargin(float margin)
{
ConvexShape::SetMargin(margin);
}
virtual float 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 m_localScaling[0] * m_radius + ConvexShape::GetMargin();
}
};
#endif //SPHERE_MINKOWSKI_H
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