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Diffstat (limited to 'modules/bullet/btRayShape.h')
| -rw-r--r-- | modules/bullet/btRayShape.h | 87 |
1 files changed, 87 insertions, 0 deletions
diff --git a/modules/bullet/btRayShape.h b/modules/bullet/btRayShape.h new file mode 100644 index 0000000000..1b63fb477c --- /dev/null +++ b/modules/bullet/btRayShape.h @@ -0,0 +1,87 @@ +/*************************************************************************/ +/* btRayShape.h */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually ) porting to bullet +/// This shape is a custom shape that is not present to Bullet physics engine +#ifndef BTRAYSHAPE_H +#define BTRAYSHAPE_H + +#include "BulletCollision/CollisionShapes/btConvexInternalShape.h" + +/// Ray shape around z axis +ATTRIBUTE_ALIGNED16(class) +btRayShape : public btConvexInternalShape { + + btScalar m_length; + /// The default axis is the z + btVector3 m_shapeAxis; + + btTransform m_cacheSupportPoint; + btScalar m_cacheScaledLength; + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btRayShape(btScalar length); + virtual ~btRayShape(); + + void setLength(btScalar p_length); + btScalar getLength() const { return m_length; } + + const btTransform &getSupportPoint() const { return m_cacheSupportPoint; } + const btScalar &getScaledLength() const { return m_cacheScaledLength; } + + virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const; +#ifndef __SPU__ + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const; +#endif //#ifndef __SPU__ + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const; + + ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t. + virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const; + +#ifndef __SPU__ + virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; + + virtual const char *getName() const { + return "RayZ"; + } +#endif //__SPU__ + + virtual int getNumPreferredPenetrationDirections() const; + virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const; + +private: + void reload_cache(); +}; + +#endif // BTRAYSHAPE_H |