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/*************************************************************************/
/* btRayShape.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2022 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. */
/*************************************************************************/
/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually) porting to bullet
/// This shape is a custom shape that is not present to Bullet physics engine
#ifndef BTRAYSHAPE_H
#define BTRAYSHAPE_H
#include <BulletCollision/CollisionShapes/btConvexInternalShape.h>
/**
@author AndreaCatania
*/
/// Ray shape around z axis
ATTRIBUTE_ALIGNED16(class)
btRayShape : public btConvexInternalShape {
btScalar m_length = 0;
bool slipsOnSlope = false;
/// The default axis is the z
btVector3 m_shapeAxis = btVector3(0, 0, 1);
btTransform m_cacheSupportPoint;
btScalar m_cacheScaledLength;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
btRayShape(btScalar length);
virtual ~btRayShape();
void setLength(btScalar p_length);
btScalar getLength() const { return m_length; }
virtual void setMargin(btScalar margin);
void setSlipsOnSlope(bool p_slipsOnSlope);
bool getSlipsOnSlope() const { return slipsOnSlope; }
const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
const btScalar &getScaledLength() const { return m_cacheScaledLength; }
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
#ifndef __SPU__
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
#endif //#ifndef __SPU__
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;
#ifndef __SPU__
virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
virtual const char *getName() const {
return "RayZ";
}
#endif //__SPU__
virtual int getNumPreferredPenetrationDirections() const;
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;
private:
void reload_cache();
};
#endif // BTRAYSHAPE_H
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