virtualx-engine/modules/bullet/btRayShape.cpp

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/*  btRayShape.cpp                                                       */
/*************************************************************************/
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#include "btRayShape.h"

#include "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);
}

btRayShape::~btRayShape() {
}

void btRayShape::setLength(btScalar p_length) {

	m_length = p_length;
	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 {
#define MARGIN_BROADPHASE 0.1
	btVector3 localAabbMin(0, 0, 0);
	btVector3 localAabbMax(m_shapeAxis * m_length);
	btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, 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_collisionMargin;

	m_cacheSupportPoint.setIdentity();
	m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
}