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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btConeShape.cpp | 147 |
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); +}
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