[1963] | 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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[8351] | 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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[8351] | 15 | |
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[1963] | 16 | #include "btCylinderShape.h" |
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| 17 | |
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| 18 | btCylinderShape::btCylinderShape (const btVector3& halfExtents) |
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[8351] | 19 | :btConvexInternalShape(), |
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[1963] | 20 | m_upAxis(1) |
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| 21 | { |
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[8351] | 22 | btVector3 margin(getMargin(),getMargin(),getMargin()); |
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| 23 | m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin; |
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[1963] | 24 | m_shapeType = CYLINDER_SHAPE_PROXYTYPE; |
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| 25 | } |
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| 26 | |
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| 27 | |
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| 28 | btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents) |
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| 29 | :btCylinderShape(halfExtents) |
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| 30 | { |
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| 31 | m_upAxis = 0; |
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[8351] | 32 | |
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[1963] | 33 | } |
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| 34 | |
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| 35 | |
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| 36 | btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents) |
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| 37 | :btCylinderShape(halfExtents) |
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| 38 | { |
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| 39 | m_upAxis = 2; |
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[8351] | 40 | |
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[1963] | 41 | } |
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| 42 | |
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| 43 | void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
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| 44 | { |
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[8351] | 45 | btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); |
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[1963] | 46 | } |
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| 47 | |
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[8351] | 48 | void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
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| 49 | { |
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| 50 | //approximation of box shape, todo: implement cylinder shape inertia before people notice ;-) |
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| 51 | btVector3 halfExtents = getHalfExtentsWithMargin(); |
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[1963] | 52 | |
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[8351] | 53 | btScalar lx=btScalar(2.)*(halfExtents.x()); |
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| 54 | btScalar ly=btScalar(2.)*(halfExtents.y()); |
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| 55 | btScalar lz=btScalar(2.)*(halfExtents.z()); |
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| 56 | |
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| 57 | inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), |
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| 58 | mass/(btScalar(12.0)) * (lx*lx + lz*lz), |
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| 59 | mass/(btScalar(12.0)) * (lx*lx + ly*ly)); |
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| 60 | |
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| 61 | } |
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| 62 | |
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| 63 | |
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[1963] | 64 | SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v) |
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| 65 | { |
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| 66 | const int cylinderUpAxis = 0; |
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| 67 | const int XX = 1; |
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| 68 | const int YY = 0; |
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| 69 | const int ZZ = 2; |
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| 70 | |
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| 71 | //mapping depends on how cylinder local orientation is |
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| 72 | // extents of the cylinder is: X,Y is for radius, and Z for height |
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| 73 | |
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| 74 | |
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| 75 | btScalar radius = halfExtents[XX]; |
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| 76 | btScalar halfHeight = halfExtents[cylinderUpAxis]; |
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| 77 | |
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| 78 | |
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| 79 | btVector3 tmp; |
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| 80 | btScalar d ; |
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| 81 | |
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| 82 | btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); |
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| 83 | if (s != btScalar(0.0)) |
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| 84 | { |
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| 85 | d = radius / s; |
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| 86 | tmp[XX] = v[XX] * d; |
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| 87 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 88 | tmp[ZZ] = v[ZZ] * d; |
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| 89 | return tmp; |
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| 90 | } |
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| 91 | else |
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| 92 | { |
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| 93 | tmp[XX] = radius; |
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| 94 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 95 | tmp[ZZ] = btScalar(0.0); |
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| 96 | return tmp; |
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| 97 | } |
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| 98 | |
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| 99 | |
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| 100 | } |
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| 101 | |
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| 102 | |
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| 103 | |
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| 104 | |
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| 105 | |
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| 106 | |
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| 107 | inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v) |
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| 108 | { |
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| 109 | |
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| 110 | const int cylinderUpAxis = 1; |
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| 111 | const int XX = 0; |
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| 112 | const int YY = 1; |
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| 113 | const int ZZ = 2; |
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| 114 | |
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| 115 | |
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| 116 | btScalar radius = halfExtents[XX]; |
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| 117 | btScalar halfHeight = halfExtents[cylinderUpAxis]; |
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| 118 | |
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| 119 | |
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| 120 | btVector3 tmp; |
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| 121 | btScalar d ; |
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| 122 | |
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| 123 | btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); |
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| 124 | if (s != btScalar(0.0)) |
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| 125 | { |
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| 126 | d = radius / s; |
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| 127 | tmp[XX] = v[XX] * d; |
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| 128 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 129 | tmp[ZZ] = v[ZZ] * d; |
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| 130 | return tmp; |
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| 131 | } |
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| 132 | else |
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| 133 | { |
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| 134 | tmp[XX] = radius; |
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| 135 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 136 | tmp[ZZ] = btScalar(0.0); |
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| 137 | return tmp; |
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| 138 | } |
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| 139 | |
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| 140 | } |
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| 141 | |
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| 142 | inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v) |
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| 143 | { |
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| 144 | const int cylinderUpAxis = 2; |
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| 145 | const int XX = 0; |
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| 146 | const int YY = 2; |
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| 147 | const int ZZ = 1; |
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| 148 | |
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| 149 | //mapping depends on how cylinder local orientation is |
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| 150 | // extents of the cylinder is: X,Y is for radius, and Z for height |
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| 151 | |
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| 152 | |
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| 153 | btScalar radius = halfExtents[XX]; |
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| 154 | btScalar halfHeight = halfExtents[cylinderUpAxis]; |
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| 155 | |
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| 156 | |
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| 157 | btVector3 tmp; |
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| 158 | btScalar d ; |
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| 159 | |
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| 160 | btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]); |
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| 161 | if (s != btScalar(0.0)) |
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| 162 | { |
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| 163 | d = radius / s; |
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| 164 | tmp[XX] = v[XX] * d; |
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| 165 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 166 | tmp[ZZ] = v[ZZ] * d; |
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| 167 | return tmp; |
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| 168 | } |
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| 169 | else |
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| 170 | { |
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| 171 | tmp[XX] = radius; |
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| 172 | tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight; |
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| 173 | tmp[ZZ] = btScalar(0.0); |
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| 174 | return tmp; |
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| 175 | } |
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| 176 | |
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| 177 | |
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| 178 | } |
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| 179 | |
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| 180 | btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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| 181 | { |
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| 182 | return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec); |
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| 183 | } |
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| 184 | |
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| 185 | |
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| 186 | btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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| 187 | { |
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| 188 | return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec); |
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| 189 | } |
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| 190 | btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const |
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| 191 | { |
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| 192 | return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec); |
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| 193 | } |
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| 194 | |
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| 195 | void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 196 | { |
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| 197 | for (int i=0;i<numVectors;i++) |
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| 198 | { |
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| 199 | supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]); |
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| 200 | } |
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| 201 | } |
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| 202 | |
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| 203 | void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 204 | { |
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| 205 | for (int i=0;i<numVectors;i++) |
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| 206 | { |
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| 207 | supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]); |
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| 208 | } |
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| 209 | } |
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| 210 | |
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| 211 | |
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| 212 | |
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| 213 | |
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| 214 | void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
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| 215 | { |
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| 216 | for (int i=0;i<numVectors;i++) |
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| 217 | { |
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| 218 | supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]); |
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| 219 | } |
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| 220 | } |
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| 221 | |
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| 222 | |
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