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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h | 219 |
1 files changed, 219 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h new file mode 100644 index 0000000000..a214a827c9 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h @@ -0,0 +1,219 @@ +/* +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_CYLINDER_MINKOWSKI_H +#define BT_CYLINDER_MINKOWSKI_H + +#include "btBoxShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "LinearMath/btVector3.h" + +/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. +ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape + +{ + +protected: + + int m_upAxis; + +public: + +BT_DECLARE_ALIGNED_ALLOCATOR(); + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + } + + btCylinderShape (const btVector3& halfExtents); + + void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const + { + + btVector3 supVertex; + supVertex = localGetSupportingVertexWithoutMargin(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; + } + + + //use box inertia + // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + + + int getUpAxis() const + { + return m_upAxis; + } + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + btVector3 aniDir(0,0,0); + aniDir[getUpAxis()]=1; + return aniDir; + } + + virtual btScalar getRadius() const + { + return getHalfExtentsWithMargin().getX(); + } + + virtual void setLocalScaling(const btVector3& scaling) + { + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; + + btConvexInternalShape::setLocalScaling(scaling); + + m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; + + } + + //debugging + virtual const char* getName()const + { + return "CylinderY"; + } + + 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; + +}; + +class btCylinderShapeX : public btCylinderShape +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCylinderShapeX (const btVector3& halfExtents); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + //debugging + virtual const char* getName()const + { + return "CylinderX"; + } + + virtual btScalar getRadius() const + { + return getHalfExtentsWithMargin().getY(); + } + +}; + +class btCylinderShapeZ : public btCylinderShape +{ +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btCylinderShapeZ (const btVector3& halfExtents); + + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + //debugging + virtual const char* getName()const + { + return "CylinderZ"; + } + + virtual btScalar getRadius() const + { + return getHalfExtentsWithMargin().getX(); + } + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCylinderShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upAxis; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const +{ + return sizeof(btCylinderShapeData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCylinderShapeData* shapeData = (btCylinderShapeData*) 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 "btCylinderShapeData"; +} + + + +#endif //BT_CYLINDER_MINKOWSKI_H + |