[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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[7983] | 3 | Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
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[1963] | 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 11 | 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef CYLINDER_MINKOWSKI_H |
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| 17 | #define CYLINDER_MINKOWSKI_H |
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| 18 | |
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| 19 | #include "btBoxShape.h" |
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| 20 | #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
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| 21 | #include "LinearMath/btVector3.h" |
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| 22 | |
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| 23 | /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. |
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[7983] | 24 | class btCylinderShape : public btConvexInternalShape |
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[1963] | 25 | |
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| 26 | { |
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| 27 | |
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| 28 | protected: |
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| 29 | |
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| 30 | int m_upAxis; |
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| 31 | |
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| 32 | public: |
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[7983] | 33 | |
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| 34 | btVector3 getHalfExtentsWithMargin() const |
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| 35 | { |
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| 36 | btVector3 halfExtents = getHalfExtentsWithoutMargin(); |
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| 37 | btVector3 margin(getMargin(),getMargin(),getMargin()); |
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| 38 | halfExtents += margin; |
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| 39 | return halfExtents; |
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| 40 | } |
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| 41 | |
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| 42 | const btVector3& getHalfExtentsWithoutMargin() const |
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| 43 | { |
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| 44 | return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included |
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| 45 | } |
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| 46 | |
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[1963] | 47 | btCylinderShape (const btVector3& halfExtents); |
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| 48 | |
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| 49 | void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; |
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| 50 | |
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[7983] | 51 | virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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| 52 | |
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[1963] | 53 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 54 | |
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| 55 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 56 | |
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[7983] | 57 | virtual void setMargin(btScalar collisionMargin) |
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| 58 | { |
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| 59 | //correct the m_implicitShapeDimensions for the margin |
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| 60 | btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
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| 61 | btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
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| 62 | |
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| 63 | btConvexInternalShape::setMargin(collisionMargin); |
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| 64 | btVector3 newMargin(getMargin(),getMargin(),getMargin()); |
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| 65 | m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; |
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| 66 | |
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| 67 | } |
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| 68 | |
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[1963] | 69 | virtual btVector3 localGetSupportingVertex(const btVector3& vec) const |
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| 70 | { |
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| 71 | |
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| 72 | btVector3 supVertex; |
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| 73 | supVertex = localGetSupportingVertexWithoutMargin(vec); |
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| 74 | |
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| 75 | if ( getMargin()!=btScalar(0.) ) |
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| 76 | { |
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| 77 | btVector3 vecnorm = vec; |
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| 78 | if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) |
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| 79 | { |
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| 80 | vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); |
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| 81 | } |
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| 82 | vecnorm.normalize(); |
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| 83 | supVertex+= getMargin() * vecnorm; |
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| 84 | } |
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| 85 | return supVertex; |
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| 86 | } |
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| 87 | |
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| 88 | |
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| 89 | //use box inertia |
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| 90 | // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
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| 91 | |
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| 92 | |
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| 93 | int getUpAxis() const |
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| 94 | { |
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| 95 | return m_upAxis; |
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| 96 | } |
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| 97 | |
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| 98 | virtual btScalar getRadius() const |
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| 99 | { |
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| 100 | return getHalfExtentsWithMargin().getX(); |
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| 101 | } |
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| 102 | |
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[7983] | 103 | virtual void setLocalScaling(const btVector3& scaling) |
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| 104 | { |
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| 105 | btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
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| 106 | btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
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| 107 | btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; |
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| 108 | |
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| 109 | btConvexInternalShape::setLocalScaling(scaling); |
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| 110 | |
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| 111 | m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; |
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| 112 | |
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| 113 | } |
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| 114 | |
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[1963] | 115 | //debugging |
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| 116 | virtual const char* getName()const |
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| 117 | { |
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| 118 | return "CylinderY"; |
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| 119 | } |
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| 120 | |
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[7983] | 121 | virtual int calculateSerializeBufferSize() const; |
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[1963] | 122 | |
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[7983] | 123 | ///fills the dataBuffer and returns the struct name (and 0 on failure) |
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| 124 | virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; |
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[1963] | 125 | |
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| 126 | }; |
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| 127 | |
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| 128 | class btCylinderShapeX : public btCylinderShape |
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| 129 | { |
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| 130 | public: |
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| 131 | btCylinderShapeX (const btVector3& halfExtents); |
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| 132 | |
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| 133 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 134 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 135 | |
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| 136 | //debugging |
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| 137 | virtual const char* getName()const |
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| 138 | { |
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| 139 | return "CylinderX"; |
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| 140 | } |
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| 141 | |
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| 142 | virtual btScalar getRadius() const |
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| 143 | { |
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| 144 | return getHalfExtentsWithMargin().getY(); |
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| 145 | } |
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| 146 | |
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| 147 | }; |
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| 148 | |
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| 149 | class btCylinderShapeZ : public btCylinderShape |
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| 150 | { |
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| 151 | public: |
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| 152 | btCylinderShapeZ (const btVector3& halfExtents); |
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| 153 | |
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| 154 | virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
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| 155 | virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
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| 156 | |
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| 157 | //debugging |
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| 158 | virtual const char* getName()const |
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| 159 | { |
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| 160 | return "CylinderZ"; |
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| 161 | } |
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| 162 | |
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| 163 | virtual btScalar getRadius() const |
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| 164 | { |
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| 165 | return getHalfExtentsWithMargin().getX(); |
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| 166 | } |
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| 167 | |
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| 168 | }; |
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| 169 | |
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[7983] | 170 | ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 |
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| 171 | struct btCylinderShapeData |
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| 172 | { |
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| 173 | btConvexInternalShapeData m_convexInternalShapeData; |
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[1963] | 174 | |
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[7983] | 175 | int m_upAxis; |
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| 176 | |
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| 177 | char m_padding[4]; |
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| 178 | }; |
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| 179 | |
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| 180 | SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const |
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| 181 | { |
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| 182 | return sizeof(btCylinderShapeData); |
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| 183 | } |
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| 184 | |
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| 185 | ///fills the dataBuffer and returns the struct name (and 0 on failure) |
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| 186 | SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const |
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| 187 | { |
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| 188 | btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; |
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| 189 | |
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| 190 | btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); |
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| 191 | |
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| 192 | shapeData->m_upAxis = m_upAxis; |
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| 193 | |
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| 194 | return "btCylinderShapeData"; |
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| 195 | } |
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| 196 | |
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| 197 | |
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| 198 | |
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[1963] | 199 | #endif //CYLINDER_MINKOWSKI_H |
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| 200 | |
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