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source: code/branches/gamestates2/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.cpp @ 6915

Last change on this file since 6915 was 5781, checked in by rgrieder, 15 years ago

Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).

  • Property svn:eol-style set to native
File size: 4.0 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16
17#include "btCapsuleShape.h"
18
19#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
20#include "LinearMath/btQuaternion.h"
21
22btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
23{
24        m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
25        m_upAxis = 1;
26        m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
27}
28
29 
30 btVector3      btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const
31{
32
33        btVector3 supVec(0,0,0);
34
35        btScalar maxDot(btScalar(-1e30));
36
37        btVector3 vec = vec0;
38        btScalar lenSqr = vec.length2();
39        if (lenSqr < btScalar(0.0001))
40        {
41                vec.setValue(1,0,0);
42        } else
43        {
44                btScalar rlen = btScalar(1.) / btSqrt(lenSqr );
45                vec *= rlen;
46        }
47
48        btVector3 vtx;
49        btScalar newDot;
50       
51        btScalar radius = getRadius();
52
53
54        {
55                btVector3 pos(0,0,0);
56                pos[getUpAxis()] = getHalfHeight();
57
58                vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
59                newDot = vec.dot(vtx);
60                if (newDot > maxDot)
61                {
62                        maxDot = newDot;
63                        supVec = vtx;
64                }
65        }
66        {
67                btVector3 pos(0,0,0);
68                pos[getUpAxis()] = -getHalfHeight();
69
70                vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
71                newDot = vec.dot(vtx);
72                if (newDot > maxDot)
73                {
74                        maxDot = newDot;
75                        supVec = vtx;
76                }
77        }
78
79        return supVec;
80
81}
82
83 void   btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
84{
85
86       
87        btScalar radius = getRadius();
88
89        for (int j=0;j<numVectors;j++)
90        {
91                btScalar maxDot(btScalar(-1e30));
92                const btVector3& vec = vectors[j];
93
94                btVector3 vtx;
95                btScalar newDot;
96                {
97                        btVector3 pos(0,0,0);
98                        pos[getUpAxis()] = getHalfHeight();
99                        vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
100                        newDot = vec.dot(vtx);
101                        if (newDot > maxDot)
102                        {
103                                maxDot = newDot;
104                                supportVerticesOut[j] = vtx;
105                        }
106                }
107                {
108                        btVector3 pos(0,0,0);
109                        pos[getUpAxis()] = -getHalfHeight();
110                        vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
111                        newDot = vec.dot(vtx);
112                        if (newDot > maxDot)
113                        {
114                                maxDot = newDot;
115                                supportVerticesOut[j] = vtx;
116                        }
117                }
118               
119        }
120}
121
122
123void    btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
124{
125        //as an approximation, take the inertia of the box that bounds the spheres
126
127        btTransform ident;
128        ident.setIdentity();
129
130       
131        btScalar radius = getRadius();
132
133        btVector3 halfExtents(radius,radius,radius);
134        halfExtents[getUpAxis()]+=getHalfHeight();
135
136        btScalar margin = CONVEX_DISTANCE_MARGIN;
137
138        btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
139        btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
140        btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
141        const btScalar x2 = lx*lx;
142        const btScalar y2 = ly*ly;
143        const btScalar z2 = lz*lz;
144        const btScalar scaledmass = mass * btScalar(.08333333);
145
146        inertia[0] = scaledmass * (y2+z2);
147        inertia[1] = scaledmass * (x2+z2);
148        inertia[2] = scaledmass * (x2+y2);
149
150}
151
152btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
153{
154        m_upAxis = 0;
155        m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
156}
157
158
159
160
161
162
163btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
164{
165        m_upAxis = 2;
166        m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
167}
168
169
170
171
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