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source: code/trunk/src/external/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h @ 9499

Last change on this file since 9499 was 8351, checked in by rgrieder, 14 years ago

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

  • *Support for Mac OS X*
  • Visual Studio 2010 support
  • Bullet library update to 2.77
  • OIS library update to 1.3
  • Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
  • Improved install target
  • Compiles now with GCC 4.6
  • Ogre Cg Shader plugin activated for Linux if available
  • And of course lots of bug fixes

There are also some regressions:

  • No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
  • In game console is not working in main menu for CEGUI 0.7
  • Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
  • And of course lots of new bugs we don't yet know about
  • Property svn:eol-style set to native
File size: 5.7 KB
Line 
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
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#ifndef BT_CAPSULE_SHAPE_H
17#define BT_CAPSULE_SHAPE_H
18
19#include "btConvexInternalShape.h"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22
23///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
24///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
25///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
26class btCapsuleShape : public btConvexInternalShape
27{
28protected:
29        int     m_upAxis;
30
31protected:
32        ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
33        btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
34
35public:
36        btCapsuleShape(btScalar radius,btScalar height);
37
38        ///CollisionShape Interface
39        virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
40
41        /// btConvexShape Interface
42        virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
43
44        virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
45       
46        virtual void setMargin(btScalar collisionMargin)
47        {
48                //correct the m_implicitShapeDimensions for the margin
49                btVector3 oldMargin(getMargin(),getMargin(),getMargin());
50                btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
51               
52                btConvexInternalShape::setMargin(collisionMargin);
53                btVector3 newMargin(getMargin(),getMargin(),getMargin());
54                m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
55
56        }
57
58        virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
59        {
60                        btVector3 halfExtents(getRadius(),getRadius(),getRadius());
61                        halfExtents[m_upAxis] = getRadius() + getHalfHeight();
62                        halfExtents += btVector3(getMargin(),getMargin(),getMargin());
63                        btMatrix3x3 abs_b = t.getBasis().absolute(); 
64                        btVector3 center = t.getOrigin();
65                        btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));             
66                       
67                        aabbMin = center - extent;
68                        aabbMax = center + extent;
69        }
70
71        virtual const char*     getName()const 
72        {
73                return "CapsuleShape";
74        }
75
76        int     getUpAxis() const
77        {
78                return m_upAxis;
79        }
80
81        btScalar        getRadius() const
82        {
83                int radiusAxis = (m_upAxis+2)%3;
84                return m_implicitShapeDimensions[radiusAxis];
85        }
86
87        btScalar        getHalfHeight() const
88        {
89                return m_implicitShapeDimensions[m_upAxis];
90        }
91
92        virtual void    setLocalScaling(const btVector3& scaling)
93        {
94                btVector3 oldMargin(getMargin(),getMargin(),getMargin());
95                btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
96                btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
97
98                btConvexInternalShape::setLocalScaling(scaling);
99
100                m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
101
102        }
103
104        virtual int     calculateSerializeBufferSize() const;
105
106        ///fills the dataBuffer and returns the struct name (and 0 on failure)
107        virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
108
109
110};
111
112///btCapsuleShapeX represents a capsule around the Z axis
113///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
114class btCapsuleShapeX : public btCapsuleShape
115{
116public:
117
118        btCapsuleShapeX(btScalar radius,btScalar height);
119               
120        //debugging
121        virtual const char*     getName()const
122        {
123                return "CapsuleX";
124        }
125
126       
127
128};
129
130///btCapsuleShapeZ represents a capsule around the Z axis
131///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
132class btCapsuleShapeZ : public btCapsuleShape
133{
134public:
135        btCapsuleShapeZ(btScalar radius,btScalar height);
136
137                //debugging
138        virtual const char*     getName()const
139        {
140                return "CapsuleZ";
141        }
142
143       
144};
145
146///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
147struct  btCapsuleShapeData
148{
149        btConvexInternalShapeData       m_convexInternalShapeData;
150
151        int     m_upAxis;
152
153        char    m_padding[4];
154};
155
156SIMD_FORCE_INLINE       int     btCapsuleShape::calculateSerializeBufferSize() const
157{
158        return sizeof(btCapsuleShapeData);
159}
160
161        ///fills the dataBuffer and returns the struct name (and 0 on failure)
162SIMD_FORCE_INLINE       const char*     btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
163{
164        btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
165       
166        btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
167
168        shapeData->m_upAxis = m_upAxis;
169       
170        return "btCapsuleShapeData";
171}
172
173#endif //BT_CAPSULE_SHAPE_H
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