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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.h | 186 |
1 files changed, 186 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.h b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.h new file mode 100644 index 0000000000..3b44e3f272 --- /dev/null +++ b/thirdparty/bullet/src/BulletCollision/CollisionShapes/btConeShape.h @@ -0,0 +1,186 @@ +/* +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_CONE_MINKOWSKI_H +#define BT_CONE_MINKOWSKI_H + +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis. +ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape + +{ + + btScalar m_sinAngle; + btScalar m_radius; + btScalar m_height; + int m_coneIndices[3]; + btVector3 coneLocalSupport(const btVector3& v) const; + + +public: + BT_DECLARE_ALIGNED_ALLOCATOR(); + + btConeShape (btScalar radius,btScalar height); + + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const; + virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + + btScalar getRadius() const { return m_radius;} + btScalar getHeight() const { return m_height;} + + void setRadius(const btScalar radius) + { + m_radius = radius; + } + void setHeight(const btScalar height) + { + m_height = height; + } + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const + { + btTransform identity; + identity.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(identity,aabbMin,aabbMax); + + btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); + + btScalar margin = getMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()+margin); + btScalar ly=btScalar(2.)*(halfExtents.y()+margin); + btScalar lz=btScalar(2.)*(halfExtents.z()+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * btScalar(0.08333333); + + inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); + +// inertia.x() = scaledmass * (y2+z2); +// inertia.y() = scaledmass * (x2+z2); +// inertia.z() = scaledmass * (x2+y2); + } + + + virtual const char* getName()const + { + return "Cone"; + } + + ///choose upAxis index + void setConeUpIndex(int upIndex); + + int getConeUpIndex() const + { + return m_coneIndices[1]; + } + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (0,1,0); + } + + virtual void setLocalScaling(const btVector3& scaling); + + + 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; + + +}; + +///btConeShape implements a Cone shape, around the X axis +class btConeShapeX : public btConeShape +{ + public: + btConeShapeX(btScalar radius,btScalar height); + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (1,0,0); + } + + //debugging + virtual const char* getName()const + { + return "ConeX"; + } + + +}; + +///btConeShapeZ implements a Cone shape, around the Z axis +class btConeShapeZ : public btConeShape +{ +public: + btConeShapeZ(btScalar radius,btScalar height); + + virtual btVector3 getAnisotropicRollingFrictionDirection() const + { + return btVector3 (0,0,1); + } + + //debugging + virtual const char* getName()const + { + return "ConeZ"; + } + + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConeShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upIndex; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const +{ + return sizeof(btConeShapeData); +} + +///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btConeShapeData* shapeData = (btConeShapeData*) dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + + shapeData->m_upIndex = m_coneIndices[1]; + + // 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 "btConeShapeData"; +} + +#endif //BT_CONE_MINKOWSKI_H + |