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

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

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

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

	///The btSphereShape implements an implicit sphere, centered around a local origin with radius.			///The btSphereShape implements an implicit sphere, centered around a local origin with radius.
	ATTRIBUTE_ALIGNED16(class) btSphereShape : public btConvexInternalShape			ATTRIBUTE_ALIGNED16(class)
				btSphereShape : public btConvexInternalShape

	{			{

	public:			public:
	BT_DECLARE_ALIGNED_ALLOCATOR();			BT_DECLARE_ALIGNED_ALLOCATOR();

	btSphereShape (btScalar radius) : btConvexInternalShape ()			btSphereShape(btScalar radius) : btConvexInternalShape()
	{			{
	m_shapeType = SPHERE_SHAPE_PROXYTYPE;			m_shapeType = SPHERE_SHAPE_PROXYTYPE;
				m_localScaling.setValue(1.0, 1.0, 1.0);
				m_implicitShapeDimensions.setZero();
	m_implicitShapeDimensions.setX(radius);			m_implicitShapeDimensions.setX(radius);
	m_collisionMargin = radius;			m_collisionMargin = radius;
				m_padding = 0;
	}			}

	virtual btVector3 localGetSupportingVertex(const btVector3& vec)const;			virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
	virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;			virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
	//notice that the vectors should be unit length			//notice that the vectors should be unit length
	virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;			virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;


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

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


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

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

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

	virtual void setMargin(btScalar margin)			virtual void setMargin(btScalar margin)
	{			{
	btConvexInternalShape::setMargin(margin);			btConvexInternalShape::setMargin(margin);
	}			}
	virtual btScalar getMargin() const			virtual btScalar getMargin() const
	{			{
	//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case			//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			//this means, non-uniform scaling is not supported anymore
	return getRadius();			return getRadius();
	}			}


	};			};


	#endif //BT_SPHERE_MINKOWSKI_H			#endif //BT_SPHERE_MINKOWSKI_H