1 /*************************************************************************/
2 /* btRayShape.cpp */
3 /*************************************************************************/
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5 /* GODOT ENGINE */
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30
31 #include "btRayShape.h"
32
33 #include "core/math/math_funcs.h"
34
35 #include <LinearMath/btAabbUtil2.h>
36
37 /**
38 @author AndreaCatania
39 */
40
btRayShape(btScalar length)41 btRayShape::btRayShape(btScalar length) :
42 btConvexInternalShape(),
43 m_shapeAxis(0, 0, 1) {
44 m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
45 setLength(length);
46 }
47
~btRayShape()48 btRayShape::~btRayShape() {
49 }
50
setLength(btScalar p_length)51 void btRayShape::setLength(btScalar p_length) {
52
53 m_length = p_length;
54 reload_cache();
55 }
56
setMargin(btScalar margin)57 void btRayShape::setMargin(btScalar margin) {
58 btConvexInternalShape::setMargin(margin);
59 reload_cache();
60 }
61
setSlipsOnSlope(bool p_slipsOnSlope)62 void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
63
64 slipsOnSlope = p_slipsOnSlope;
65 }
66
localGetSupportingVertex(const btVector3 & vec) const67 btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
68 return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
69 }
70
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const71 btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
72 if (vec.z() > 0)
73 return m_shapeAxis * m_cacheScaledLength;
74 else
75 return btVector3(0, 0, 0);
76 }
77
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const78 void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
79 for (int i = 0; i < numVectors; ++i) {
80 supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
81 }
82 }
83
getAabb(const btTransform & t,btVector3 & aabbMin,btVector3 & aabbMax) const84 void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
85 btVector3 localAabbMin(0, 0, 0);
86 btVector3 localAabbMax(m_shapeAxis * m_cacheScaledLength);
87 btTransformAabb(localAabbMin, localAabbMax, m_collisionMargin, t, aabbMin, aabbMax);
88 }
89
calculateLocalInertia(btScalar mass,btVector3 & inertia) const90 void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
91 inertia.setZero();
92 }
93
getNumPreferredPenetrationDirections() const94 int btRayShape::getNumPreferredPenetrationDirections() const {
95 return 0;
96 }
97
getPreferredPenetrationDirection(int index,btVector3 & penetrationVector) const98 void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
99 penetrationVector.setZero();
100 }
101
reload_cache()102 void btRayShape::reload_cache() {
103
104 m_cacheScaledLength = m_length * m_localScaling[2];
105
106 m_cacheSupportPoint.setIdentity();
107 m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
108 }
109