94 lines
4 KiB
C++
94 lines
4 KiB
C++
/*************************************************************************/
|
|
/* btRayShape.h */
|
|
/* Author: AndreaCatania */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
|
|
/* Copyright (c) 2014-2018 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 "LinearMath/btAabbUtil2.h"
|
|
#include "math/math_funcs.h"
|
|
|
|
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();
|
|
}
|
|
|
|
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);
|
|
}
|