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SphereShape.h

/*
 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 *
 * Permission to use, copy, modify, distribute and sell this software
 * and its documentation for any purpose is hereby granted without fee,
 * provided that the above copyright notice appear in all copies.
 * Erwin Coumans makes no representations about the suitability 
 * of this software for any purpose.  
 * It is provided "as is" without express or implied warranty.
 */

#ifndef SPHERE_MINKOWSKI_H
#define SPHERE_MINKOWSKI_H

#include "ConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types

///SphereShape implements an implicit (getSupportingVertex) Sphere
00019 class SphereShape : public ConvexShape

{
      SimdScalar m_radius;
      
public:
      SphereShape (SimdScalar radius);
      
      
      virtual SimdVector3     LocalGetSupportingVertex(const SimdVector3& vec)const;
      virtual SimdVector3     LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;


      virtual void      CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);

      virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;

      virtual int GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }

      SimdScalar  GetRadius() { return m_radius;}

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

      virtual void      SetMargin(float margin)
      {
            ConvexShape::SetMargin(margin);
      }
      virtual float     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 m_localScaling[0] * m_radius + ConvexShape::GetMargin();
      }


};


#endif //SPHERE_MINKOWSKI_H

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