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authorRĂ©mi Verschelde <rverschelde@gmail.com>2018-01-13 14:43:30 +0100
committerGitHub <noreply@github.com>2018-01-13 14:43:30 +0100
commita3ee252993e8200c856be3fe664937f9461ee268 (patch)
treeaf68e434545e20c538f896e28b73f2db7d626edd /thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
parentc01575b3125ce1828f0cacb3f9f00286136f373c (diff)
parente12c89e8c9896b2e5cdd70dbd2d2acb449ff4b94 (diff)
Merge pull request #15664 from akien-mga/thirdparty
Bugfix updates to various thirdparty libraries
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp')
-rw-r--r--thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp147
1 files changed, 147 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
new file mode 100644
index 0000000000..2d83c8bfba
--- /dev/null
+++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp
@@ -0,0 +1,147 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
+
+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.
+*/
+
+#include "btConeShape.h"
+
+
+
+btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
+m_radius (radius),
+m_height(height)
+{
+ m_shapeType = CONE_SHAPE_PROXYTYPE;
+ setConeUpIndex(1);
+ btVector3 halfExtents;
+ m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+}
+
+btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+ setConeUpIndex(2);
+}
+
+btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
+btConeShape(radius,height)
+{
+ setConeUpIndex(0);
+}
+
+///choose upAxis index
+void btConeShape::setConeUpIndex(int upIndex)
+{
+ switch (upIndex)
+ {
+ case 0:
+ m_coneIndices[0] = 1;
+ m_coneIndices[1] = 0;
+ m_coneIndices[2] = 2;
+ break;
+ case 1:
+ m_coneIndices[0] = 0;
+ m_coneIndices[1] = 1;
+ m_coneIndices[2] = 2;
+ break;
+ case 2:
+ m_coneIndices[0] = 0;
+ m_coneIndices[1] = 2;
+ m_coneIndices[2] = 1;
+ break;
+ default:
+ btAssert(0);
+ };
+
+ m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
+ m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
+ m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
+}
+
+btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
+{
+
+ btScalar halfHeight = m_height * btScalar(0.5);
+
+ if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
+ {
+ btVector3 tmp;
+
+ tmp[m_coneIndices[0]] = btScalar(0.);
+ tmp[m_coneIndices[1]] = halfHeight;
+ tmp[m_coneIndices[2]] = btScalar(0.);
+ return tmp;
+ }
+ else {
+ btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
+ if (s > SIMD_EPSILON) {
+ btScalar d = m_radius / s;
+ btVector3 tmp;
+ tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
+ tmp[m_coneIndices[1]] = -halfHeight;
+ tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
+ return tmp;
+ }
+ else {
+ btVector3 tmp;
+ tmp[m_coneIndices[0]] = btScalar(0.);
+ tmp[m_coneIndices[1]] = -halfHeight;
+ tmp[m_coneIndices[2]] = btScalar(0.);
+ return tmp;
+ }
+ }
+
+}
+
+btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
+{
+ return coneLocalSupport(vec);
+}
+
+void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+ for (int i=0;i<numVectors;i++)
+ {
+ const btVector3& vec = vectors[i];
+ supportVerticesOut[i] = coneLocalSupport(vec);
+ }
+}
+
+
+btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
+{
+ btVector3 supVertex = coneLocalSupport(vec);
+ if ( getMargin()!=btScalar(0.) )
+ {
+ btVector3 vecnorm = vec;
+ if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
+ {
+ vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
+ }
+ vecnorm.normalize();
+ supVertex+= getMargin() * vecnorm;
+ }
+ return supVertex;
+}
+
+
+void btConeShape::setLocalScaling(const btVector3& scaling)
+{
+ int axis = m_coneIndices[1];
+ int r1 = m_coneIndices[0];
+ int r2 = m_coneIndices[2];
+ m_height *= scaling[axis] / m_localScaling[axis];
+ m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
+ m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
+ btConvexInternalShape::setLocalScaling(scaling);
+} \ No newline at end of file