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https://github.com/bulletphysics/bullet3
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65 lines
2.3 KiB
C++
65 lines
2.3 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SPHERE_MINKOWSKI_H
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#define SPHERE_MINKOWSKI_H
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#include "ConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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///SphereShape implements an implicit (getSupportingVertex) Sphere
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class SphereShape : public ConvexShape
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{
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SimdScalar m_radius;
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public:
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SphereShape (SimdScalar radius);
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec)const;
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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//notice that the vectors should be unit length
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virtual void BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
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virtual int GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
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SimdScalar GetRadius() const { return m_radius;}
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//debugging
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virtual char* GetName()const {return "SPHERE";}
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virtual void SetMargin(float margin)
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{
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ConvexShape::SetMargin(margin);
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}
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virtual float GetMargin() const
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{
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//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
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//this means, non-uniform scaling is not supported anymore
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return m_localScaling[0] * m_radius + ConvexShape::GetMargin();
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}
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};
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#endif //SPHERE_MINKOWSKI_H
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