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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h | 182 |
1 files changed, 0 insertions, 182 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h deleted file mode 100644 index 138d0c0f7c..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +++ /dev/null @@ -1,182 +0,0 @@ -/* -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. -*/ - -#ifndef BT_CAPSULE_SHAPE_H -#define BT_CAPSULE_SHAPE_H - -#include "btConvexInternalShape.h" -#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types - -///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. -///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. -///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. -ATTRIBUTE_ALIGNED16(class) -btCapsuleShape : public btConvexInternalShape -{ -protected: - int m_upAxis; - -protected: - ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. - btCapsuleShape() : btConvexInternalShape() { m_shapeType = CAPSULE_SHAPE_PROXYTYPE; }; - -public: - BT_DECLARE_ALIGNED_ALLOCATOR(); - - btCapsuleShape(btScalar radius, btScalar height); - - ///CollisionShape Interface - virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const; - - /// btConvexShape Interface - virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; - - virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const; - - virtual void setMargin(btScalar collisionMargin) - { - //don't override the margin for capsules, their entire radius == margin - (void)collisionMargin; - } - - virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const - { - btVector3 halfExtents(getRadius(), getRadius(), getRadius()); - halfExtents[m_upAxis] = getRadius() + getHalfHeight(); - btMatrix3x3 abs_b = t.getBasis().absolute(); - btVector3 center = t.getOrigin(); - btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); - - aabbMin = center - extent; - aabbMax = center + extent; - } - - virtual const char* getName() const - { - return "CapsuleShape"; - } - - int getUpAxis() const - { - return m_upAxis; - } - - btScalar getRadius() const - { - int radiusAxis = (m_upAxis + 2) % 3; - return m_implicitShapeDimensions[radiusAxis]; - } - - btScalar getHalfHeight() const - { - return m_implicitShapeDimensions[m_upAxis]; - } - - virtual void setLocalScaling(const btVector3& scaling) - { - btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling; - btConvexInternalShape::setLocalScaling(scaling); - m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling); - //update m_collisionMargin, since entire radius==margin - int radiusAxis = (m_upAxis + 2) % 3; - m_collisionMargin = m_implicitShapeDimensions[radiusAxis]; - } - - virtual btVector3 getAnisotropicRollingFrictionDirection() const - { - btVector3 aniDir(0, 0, 0); - aniDir[getUpAxis()] = 1; - return aniDir; - } - - virtual int calculateSerializeBufferSize() const; - - ///fills the dataBuffer and returns the struct name (and 0 on failure) - virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; - - SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer); -}; - -///btCapsuleShapeX represents a capsule around the Z axis -///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. -class btCapsuleShapeX : public btCapsuleShape -{ -public: - btCapsuleShapeX(btScalar radius, btScalar height); - - //debugging - virtual const char* getName() const - { - return "CapsuleX"; - } -}; - -///btCapsuleShapeZ represents a capsule around the Z axis -///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. -class btCapsuleShapeZ : public btCapsuleShape -{ -public: - btCapsuleShapeZ(btScalar radius, btScalar height); - - //debugging - virtual const char* getName() const - { - return "CapsuleZ"; - } -}; - -///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btCapsuleShapeData -{ - btConvexInternalShapeData m_convexInternalShapeData; - - int m_upAxis; - - char m_padding[4]; -}; - -SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const -{ - return sizeof(btCapsuleShapeData); -} - -///fills the dataBuffer and returns the struct name (and 0 on failure) -SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const -{ - btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer; - - btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); - - shapeData->m_upAxis = m_upAxis; - - // Fill padding with zeros to appease msan. - shapeData->m_padding[0] = 0; - shapeData->m_padding[1] = 0; - shapeData->m_padding[2] = 0; - shapeData->m_padding[3] = 0; - - return "btCapsuleShapeData"; -} - -SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer) -{ - m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions); - m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin; - m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling); - //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis - m_upAxis = dataBuffer->m_upAxis; -} - -#endif //BT_CAPSULE_SHAPE_H |