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 SPHERE_MINKOWSKI_H
#define 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 //SPHERE_MINKOWSKI_H