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btSphereShape.h
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 
00016 #ifndef SPHERE_MINKOWSKI_H
00017 #define SPHERE_MINKOWSKI_H
00018 
00019 #include "btConvexInternalShape.h"
00020 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
00021 
00023 ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape
00024 
00025 {
00026        
00027 public:
00028        BT_DECLARE_ALIGNED_ALLOCATOR();
00029 
00030        btSphereShape (btScalar radius);
00031        
00032        
00033        virtual btVector3    localGetSupportingVertex(const btVector3& vec)const;
00034        virtual btVector3    localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
00035        //notice that the vectors should be unit length
00036        virtual void  batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
00037 
00038 
00039        virtual void  calculateLocalInertia(btScalar mass,btVector3& inertia) const;
00040 
00041        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
00042 
00043        virtual int   getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
00044 
00045        btScalar      getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}
00046 
00047        //debugging
00048        virtual const char*  getName()const {return "SPHERE";}
00049 
00050        virtual void  setMargin(btScalar margin)
00051        {
00052               btConvexInternalShape::setMargin(margin);
00053        }
00054        virtual btScalar     getMargin() const
00055        {
00056               //to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
00057               //this means, non-uniform scaling is not supported anymore
00058               return getRadius();
00059        }
00060 
00061 
00062 };
00063 
00064 
00065 #endif //SPHERE_MINKOWSKI_H