Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp

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extern/bullet2/src/BulletCollision/CollisionShapes/btSphereShape.cpp

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	3. This notice may not be removed or altered from any source distribution.			3. This notice may not be removed or altered from any source distribution.
	*/			*/

	#include "btSphereShape.h"			#include "btSphereShape.h"
	#include "BulletCollision/CollisionShapes/btCollisionMargin.h"			#include "BulletCollision/CollisionShapes/btCollisionMargin.h"

	#include "LinearMath/btQuaternion.h"			#include "LinearMath/btQuaternion.h"

	btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const			btVector3 btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
	{			{
	(void)vec;			(void)vec;
	return btVector3(btScalar(0.),btScalar(0.),btScalar(0.));			return btVector3(btScalar(0.), btScalar(0.), btScalar(0.));
	}			}

	void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const			void btSphereShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
	{			{
	(void)vectors;			(void)vectors;

	for (int i=0;i<numVectors;i++)			for (int i = 0; i < numVectors; i++)
	{			{
	supportVerticesOut[i].setValue(btScalar(0.),btScalar(0.),btScalar(0.));			supportVerticesOut[i].setValue(btScalar(0.), btScalar(0.), btScalar(0.));
	}			}
	}			}


	btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec)const			btVector3 btSphereShape::localGetSupportingVertex(const btVector3& vec) const
	{			{
	btVector3 supVertex;			btVector3 supVertex;
	supVertex = localGetSupportingVertexWithoutMargin(vec);			supVertex = localGetSupportingVertexWithoutMargin(vec);

	btVector3 vecnorm = vec;			btVector3 vecnorm = vec;
	if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))			if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
	{			{
	vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));			vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
	}			}
	vecnorm.normalize();			vecnorm.normalize();
	supVertex+= getMargin() * vecnorm;			supVertex += getMargin() * vecnorm;
	return supVertex;			return supVertex;
	}			}


	//broken due to scaling			//broken due to scaling
	void btSphereShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const			void btSphereShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
	{			{
	const btVector3& center = t.getOrigin();			const btVector3& center = t.getOrigin();
	btVector3 extent(getMargin(),getMargin(),getMargin());			btVector3 extent(getMargin(), getMargin(), getMargin());
	aabbMin = center - extent;			aabbMin = center - extent;
	aabbMax = center + extent;			aabbMax = center + extent;
	}			}



	void btSphereShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const			void btSphereShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
	{			{
	btScalar elem = btScalar(0.4) * mass * getMargin()*getMargin();			btScalar elem = btScalar(0.4) * mass * getMargin() * getMargin();
	inertia.setValue(elem,elem,elem);			inertia.setValue(elem, elem, elem);

	}			}