btSphereShape.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SPHERE_MINKOWSKI_H
#define BT_SPHERE_MINKOWSKI_H

#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types

ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape

{
        
public:
        BT_DECLARE_ALIGNED_ALLOCATOR();

        btSphereShape (btScalar radius) : btConvexInternalShape ()
        {
                m_shapeType = SPHERE_SHAPE_PROXYTYPE;
                m_implicitShapeDimensions.setX(radius);
                m_collisionMargin = radius;
        }
        
        virtual btVector3       localGetSupportingVertex(const btVector3& vec)const;
        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
        //notice that the vectors should be unit length
        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;


        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;

        virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;


        btScalar        getRadius() const { return m_implicitShapeDimensions.getX() * m_localScaling.getX();}

        void    setUnscaledRadius(btScalar      radius)
        {
                m_implicitShapeDimensions.setX(radius);
                btConvexInternalShape::setMargin(radius);
        }

        //debugging
        virtual const char*     getName()const {return "SPHERE";}

        virtual void    setMargin(btScalar margin)
        {
                btConvexInternalShape::setMargin(margin);
        }
        virtual btScalar        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 getRadius();
        }


};


#endif //BT_SPHERE_MINKOWSKI_H