/*
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* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
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*
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* Bullet Continuous Collision Detection and Physics Library
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* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
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*
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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
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* the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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package com.bulletphysics.collision.shapes;
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import com.bulletphysics.collision.broadphase.BroadphaseNativeType;
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import com.bulletphysics.linearmath.Transform;
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import cz.advel.stack.Stack;
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import javax.vecmath.Vector3f;
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/**
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* SphereShape implements an implicit sphere, centered around a local origin with radius.
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*
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* @author jezek2
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*/
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public class SphereShape extends ConvexInternalShape {
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public SphereShape(float radius) {
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implicitShapeDimensions.x = radius;
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collisionMargin = radius;
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}
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@Override
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public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
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out.set(0f, 0f, 0f);
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return out;
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}
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@Override
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public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
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for (int i = 0; i < numVectors; i++) {
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supportVerticesOut[i].set(0f, 0f, 0f);
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}
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}
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@Override
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public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
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Vector3f center = t.origin;
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Vector3f extent = Stack.alloc(Vector3f.class);
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extent.set(getMargin(), getMargin(), getMargin());
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aabbMin.sub(center, extent);
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aabbMax.add(center, extent);
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}
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@Override
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public BroadphaseNativeType getShapeType() {
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return BroadphaseNativeType.SPHERE_SHAPE_PROXYTYPE;
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}
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@Override
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public void calculateLocalInertia(float mass, Vector3f inertia) {
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float elem = 0.4f * mass * getMargin() * getMargin();
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inertia.set(elem, elem, elem);
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}
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@Override
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public String getName() {
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return "SPHERE";
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}
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public float getRadius() {
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return implicitShapeDimensions.x * localScaling.x;
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}
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@Override
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public void setMargin(float margin) {
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super.setMargin(margin);
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}
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@Override
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public float getMargin() {
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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 getRadius();
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}
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}
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