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/*************************************************************************/
/* btRayShape.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "btRayShape.h"
#include "core/math/math_funcs.h"
#include <LinearMath/btAabbUtil2.h>
/**
@author AndreaCatania
*/
btRayShape::btRayShape(btScalar length) :
btConvexInternalShape(),
m_shapeAxis(0, 0, 1) {
m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
setLength(length);
slipsOnSlope = false;
}
btRayShape::~btRayShape() {
}
void btRayShape::setLength(btScalar p_length) {
m_length = p_length;
reload_cache();
}
void btRayShape::setMargin(btScalar margin) {
btConvexInternalShape::setMargin(margin);
reload_cache();
}
void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
slipsOnSlope = p_slipsOnSlope;
}
btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
}
btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
if (vec.z() > 0) {
return m_shapeAxis * m_cacheScaledLength;
} else {
return btVector3(0, 0, 0);
}
}
void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
for (int i = 0; i < numVectors; ++i) {
supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
}
}
void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
btVector3 localAabbMin(0, 0, 0);
btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
}
void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
inertia.setZero();
}
int btRayShape::getNumPreferredPenetrationDirections() const {
return 0;
}
void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
penetrationVector.setZero();
}
void btRayShape::reload_cache() {
m_cacheScaledLength = m_length * m_localScaling[2];
m_cacheSupportPoint.setIdentity();
m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
}
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