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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h | 206 |
1 files changed, 0 insertions, 206 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h b/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h deleted file mode 100644 index d3f64508ba..0000000000 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btCylinderShape.h +++ /dev/null @@ -1,206 +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_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 |