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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp | 169 |
1 files changed, 0 insertions, 169 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp deleted file mode 100644 index 0345501ce2..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp +++ /dev/null @@ -1,169 +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. -*/ - - -#include "btCapsuleShape.h" - -#include "LinearMath/btQuaternion.h" - -btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape () -{ - m_collisionMargin = radius; - m_shapeType = CAPSULE_SHAPE_PROXYTYPE; - m_upAxis = 1; - m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); -} - - - btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0)const -{ - - btVector3 supVec(0,0,0); - - btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); - - btVector3 vec = vec0; - btScalar lenSqr = vec.length2(); - if (lenSqr < btScalar(0.0001)) - { - vec.setValue(1,0,0); - } else - { - btScalar rlen = btScalar(1.) / btSqrt(lenSqr ); - vec *= rlen; - } - - btVector3 vtx; - btScalar newDot; - - - - { - btVector3 pos(0,0,0); - pos[getUpAxis()] = getHalfHeight(); - - vtx = pos; - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supVec = vtx; - } - } - { - btVector3 pos(0,0,0); - pos[getUpAxis()] = -getHalfHeight(); - - vtx = pos; - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supVec = vtx; - } - } - - return supVec; - -} - - void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const -{ - - - - for (int j=0;j<numVectors;j++) - { - btScalar maxDot(btScalar(-BT_LARGE_FLOAT)); - const btVector3& vec = vectors[j]; - - btVector3 vtx; - btScalar newDot; - { - btVector3 pos(0,0,0); - pos[getUpAxis()] = getHalfHeight(); - vtx = pos; - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supportVerticesOut[j] = vtx; - } - } - { - btVector3 pos(0,0,0); - pos[getUpAxis()] = -getHalfHeight(); - vtx = pos; - newDot = vec.dot(vtx); - if (newDot > maxDot) - { - maxDot = newDot; - supportVerticesOut[j] = vtx; - } - } - - } -} - - -void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const -{ - //as an approximation, take the inertia of the box that bounds the spheres - - btTransform ident; - ident.setIdentity(); - - - btScalar radius = getRadius(); - - btVector3 halfExtents(radius,radius,radius); - halfExtents[getUpAxis()]+=getHalfHeight(); - - btScalar lx=btScalar(2.)*(halfExtents[0]); - btScalar ly=btScalar(2.)*(halfExtents[1]); - btScalar lz=btScalar(2.)*(halfExtents[2]); - const btScalar x2 = lx*lx; - const btScalar y2 = ly*ly; - const btScalar z2 = lz*lz; - const btScalar scaledmass = mass * btScalar(.08333333); - - inertia[0] = scaledmass * (y2+z2); - inertia[1] = scaledmass * (x2+z2); - inertia[2] = scaledmass * (x2+y2); - -} - -btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height) -{ - m_collisionMargin = radius; - m_upAxis = 0; - m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); -} - - - - - - -btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height) -{ - m_collisionMargin = radius; - m_upAxis = 2; - m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); -} - - - - |