1 files changed, 116 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs
new file mode 100644
index 0000000..c660a6f
--- /dev/null
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs
@@ -0,0 +1,116 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  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.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        /// <summary>
+        /// btSphereShape implements an implicit (getSupportingVertex) Sphere
+        /// </summary>
+        public class SphereShape : ConvexShape
+        {
+                public SphereShape(float radius)
+                        : base()
+                {
+                        Vector3 temp = ImplicitShapeDimensions;
+                        temp.X = radius;
+                        ImplicitShapeDimensions = temp;
+                }
+                public float Radius { get { return ImplicitShapeDimensions.X; } }
+                public override BroadphaseNativeTypes ShapeType
+                {
+                        get
+                        {
+                                return BroadphaseNativeTypes.Sphere;
+                        }
+                }
+                public override string Name
+                {
+                        get
+                        {
+                                return "Sphere";
+                        }
+                }
+                public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
+                {
+                        return new Vector3();
+                }
+                /// <summary>
+                /// 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
+                /// </summary>
+                public override float Margin
+                {
+                        get
+                        {
+                                return LocalScaling.X * Radius + base.Margin;
+                        }
+                        set
+                        {
+                                base.Margin = value;
+                        }
+                }
+                public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
+                {
+                        if (supportVerticesOut != null)
+                                for (int i = 0; i < supportVerticesOut.Length; i++)
+                                        supportVerticesOut[i] = new Vector3();
+                }
+                public override void CalculateLocalInertia(float mass, out Vector3 inertia)
+                {
+                        float elem = 0.4f * mass * Margin * Margin;
+                        inertia = new Vector3(elem, elem, elem);
+                }
+                public override Vector3 LocalGetSupportingVertex(Vector3 vec)
+                {
+                        Vector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+                        Vector3 vecnorm = vec;
+                        if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon))
+                        {
+                                vecnorm = new Vector3(-1f, -1f, -1f);
+                        }
+                        vecnorm.Normalize();
+                        supVertex += Margin * vecnorm;
+                        return supVertex;
+                }
+                public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
+                {
+                        Vector3 center = t.Translation;
+                        Vector3 extent = new Vector3(Margin, Margin, Margin);
+                        aabbMin = center - extent;
+                        aabbMax = center + extent;
+                }
+        }
+}

diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs new file mode 100644 index 0000000..c660a6f --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/SphereShape.cs
@@ -0,0 +1,116 @@
	1	/*
	2	Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
	3	Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
	4
	5	This software is provided 'as-is', without any express or implied
	6	warranty. In no event will the authors be held liable for any damages
	7	arising from the use of this software.
	8
	9	Permission is granted to anyone to use this software for any purpose,
	10	including commercial applications, and to alter it and redistribute it
	11	freely, subject to the following restrictions:
	12
	13	1. The origin of this software must not be misrepresented; you must not
	14	claim that you wrote the original software. If you use this software
	15	in a product, an acknowledgment in the product documentation would be
	16	appreciated but is not required.
	17	2. Altered source versions must be plainly marked as such, and must not be
	18	misrepresented as being the original software.
	19	3. This notice may not be removed or altered from any source distribution.
	20	*/
	21
	22	using System;
	23	using System.Collections.Generic;
	24	using System.Text;
	25	using MonoXnaCompactMaths;
	26
	27	namespace XnaDevRu.BulletX
	28	{
	29	/// <summary>
	30	/// btSphereShape implements an implicit (getSupportingVertex) Sphere
	31	/// </summary>
	32	public class SphereShape : ConvexShape
	33	{
	34	public SphereShape(float radius)
	35	: base()
	36	{
	37	Vector3 temp = ImplicitShapeDimensions;
	38	temp.X = radius;
	39	ImplicitShapeDimensions = temp;
	40	}
	41
	42	public float Radius { get { return ImplicitShapeDimensions.X; } }
	43
	44	public override BroadphaseNativeTypes ShapeType
	45	{
	46	get
	47	{
	48	return BroadphaseNativeTypes.Sphere;
	49	}
	50	}
	51
	52	public override string Name
	53	{
	54	get
	55	{
	56	return "Sphere";
	57	}
	58	}
	59
	60	public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
	61	{
	62	return new Vector3();
	63	}
	64
	65	/// <summary>
	66	/// to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
	67	/// this means, non-uniform scaling is not supported anymore
	68	/// </summary>
	69	public override float Margin
	70	{
	71	get
	72	{
	73	return LocalScaling.X * Radius + base.Margin;
	74	}
	75	set
	76	{
	77	base.Margin = value;
	78	}
	79	}
	80
	81	public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
	82	{
	83	if (supportVerticesOut != null)
	84	for (int i = 0; i < supportVerticesOut.Length; i++)
	85	supportVerticesOut[i] = new Vector3();
	86	}
	87
	88	public override void CalculateLocalInertia(float mass, out Vector3 inertia)
	89	{
	90	float elem = 0.4f * mass * Margin * Margin;
	91	inertia = new Vector3(elem, elem, elem);
	92	}
	93
	94	public override Vector3 LocalGetSupportingVertex(Vector3 vec)
	95	{
	96	Vector3 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
	97
	98	Vector3 vecnorm = vec;
	99	if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon))
	100	{
	101	vecnorm = new Vector3(-1f, -1f, -1f);
	102	}
	103	vecnorm.Normalize();
	104	supVertex += Margin * vecnorm;
	105	return supVertex;
	106	}
	107
	108	public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
	109	{
	110	Vector3 center = t.Translation;
	111	Vector3 extent = new Vector3(Margin, Margin, Margin);
	112	aabbMin = center - extent;
	113	aabbMax = center + extent;
	114	}
	115	}
	116	}