d762312d68
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@452 92aac97c-a6ce-11dd-a772-7fcde58d38e6
101 lines
4.8 KiB
C++
101 lines
4.8 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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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 the *
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* 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 claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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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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* *
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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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********************************************************************************/
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#ifndef SPHERE_SHAPE_H
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#define SPHERE_SHAPE_H
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// Libraries
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#include "Shape.h"
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#include "../mathematics/mathematics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class SphereShape :
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This class represents a sphere collision shape that is centered
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at the origin and defined by its radius.
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-------------------------------------------------------------------
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*/
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class SphereShape : public Shape {
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private :
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double radius; // Radius of the sphere
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public :
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SphereShape(double radius); // Constructor
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virtual ~SphereShape(); // Destructor
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double getRadius() const; // Return the radius of the sphere
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void setRadius(double radius); // Set the radius of the sphere
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virtual Vector3 getLocalSupportPoint(const Vector3& direction, double margin=0.0) const; // Return a local support point in a given direction
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virtual Vector3 getLocalExtents(double margin=0.0) const; // Return the local extents in x,y and z direction
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virtual void computeLocalInertiaTensor(Matrix3x3& tensor, double mass) const; // Return the local inertia tensor of the shape
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#ifdef VISUAL_DEBUG
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virtual void draw() const; // Draw the sphere (only for testing purpose)
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#endif
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};
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// Get the radius of the sphere
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inline double SphereShape::getRadius() const {
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return radius;
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}
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// Set the radius of the sphere
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inline void SphereShape::setRadius(double radius) {
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this->radius = radius;
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}
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// Return a local support point in a given direction
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inline Vector3 SphereShape::getLocalSupportPoint(const Vector3& direction, double margin) const {
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assert(margin >= 0.0);
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double length = direction.length();
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// If the direction vector is not the zero vector
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if (length > 0.0) {
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// Return the support point of the sphere in the given direction
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return (radius + margin) * direction.getUnit();
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}
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// If the direction vector is the zero vector we return a point on the
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// boundary of the sphere
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return Vector3(0, radius + margin, 0);
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}
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// Return the local extents of the shape (half-width) in x,y and z local direction
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// This method is used to compute the AABB of the box
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inline Vector3 SphereShape::getLocalExtents(double margin) const {
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return Vector3(radius + margin, radius + margin, radius + margin);
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}
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// Return the local inertia tensor of the sphere
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inline void SphereShape::computeLocalInertiaTensor(Matrix3x3& tensor, double mass) const {
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double diag = 0.4 * mass * radius * radius;
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tensor.setAllValues(diag, 0.0, 0.0, 0.0, diag, 0.0, 0.0, 0.0, diag);
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}
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}; // End of the ReactPhysics3D namespace
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#endif |