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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp | 147 |
1 files changed, 0 insertions, 147 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp deleted file mode 100644 index 2d83c8bfba..0000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.cpp +++ /dev/null @@ -1,147 +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 "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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