175 lines
5 KiB
C++
175 lines
5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CONE_MINKOWSKI_H
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#define BT_CONE_MINKOWSKI_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///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.
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ATTRIBUTE_ALIGNED16(class)
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btConeShape : public btConvexInternalShape
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{
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btScalar m_sinAngle;
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btScalar m_radius;
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btScalar m_height;
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int m_coneIndices[3];
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btVector3 coneLocalSupport(const btVector3& v) const;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btConeShape(btScalar radius, btScalar height);
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
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btScalar getRadius() const { return m_radius; }
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btScalar getHeight() const { return m_height; }
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void setRadius(const btScalar radius)
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{
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m_radius = radius;
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}
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void setHeight(const btScalar height)
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{
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m_height = height;
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}
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
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{
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btTransform identity;
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identity.setIdentity();
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btVector3 aabbMin, aabbMax;
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getAabb(identity, aabbMin, aabbMax);
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btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
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btScalar margin = getMargin();
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btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
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btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
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btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
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const btScalar x2 = lx * lx;
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const btScalar y2 = ly * ly;
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const btScalar z2 = lz * lz;
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const btScalar scaledmass = mass * btScalar(0.08333333);
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inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
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// inertia.x() = scaledmass * (y2+z2);
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// inertia.y() = scaledmass * (x2+z2);
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// inertia.z() = scaledmass * (x2+y2);
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}
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virtual const char* getName() const
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{
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return "Cone";
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}
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///choose upAxis index
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void setConeUpIndex(int upIndex);
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int getConeUpIndex() const
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{
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return m_coneIndices[1];
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}
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virtual btVector3 getAnisotropicRollingFrictionDirection() const
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{
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return btVector3(0, 1, 0);
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}
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virtual void setLocalScaling(const btVector3& scaling);
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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///btConeShape implements a Cone shape, around the X axis
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class btConeShapeX : public btConeShape
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{
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public:
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btConeShapeX(btScalar radius, btScalar height);
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virtual btVector3 getAnisotropicRollingFrictionDirection() const
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{
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return btVector3(1, 0, 0);
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}
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//debugging
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virtual const char* getName() const
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{
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return "ConeX";
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}
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};
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///btConeShapeZ implements a Cone shape, around the Z axis
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class btConeShapeZ : public btConeShape
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{
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public:
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btConeShapeZ(btScalar radius, btScalar height);
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virtual btVector3 getAnisotropicRollingFrictionDirection() const
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{
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return btVector3(0, 0, 1);
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}
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//debugging
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virtual const char* getName() const
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{
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return "ConeZ";
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}
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btConeShapeData
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{
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btConvexInternalShapeData m_convexInternalShapeData;
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int m_upIndex;
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char m_padding[4];
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};
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SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
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{
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return sizeof(btConeShapeData);
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
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btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
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shapeData->m_upIndex = m_coneIndices[1];
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// Fill padding with zeros to appease msan.
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shapeData->m_padding[0] = 0;
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shapeData->m_padding[1] = 0;
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shapeData->m_padding[2] = 0;
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shapeData->m_padding[3] = 0;
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return "btConeShapeData";
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}
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#endif //BT_CONE_MINKOWSKI_H
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