142 lines
No EOL
4.1 KiB
C++
142 lines
No EOL
4.1 KiB
C++
/*
|
|
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);
|
|
} |