1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_CYLINDER_MINKOWSKI_H
17 #define BT_CYLINDER_MINKOWSKI_H
18
19 #include "btBoxShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21 #include "LinearMath/btVector3.h"
22
23 /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
ATTRIBUTE_ALIGNED16(class)24 ATTRIBUTE_ALIGNED16(class)
25 btCylinderShape : public btConvexInternalShape
26
27 {
28 protected:
29 int m_upAxis;
30
31 public:
32 BT_DECLARE_ALIGNED_ALLOCATOR();
33
34 btVector3 getHalfExtentsWithMargin() const
35 {
36 btVector3 halfExtents = getHalfExtentsWithoutMargin();
37 btVector3 margin(getMargin(), getMargin(), getMargin());
38 halfExtents += margin;
39 return halfExtents;
40 }
41
42 const btVector3& getHalfExtentsWithoutMargin() const
43 {
44 return m_implicitShapeDimensions; //changed in Bullet 2.63: assume the scaling and margin are included
45 }
46
47 btCylinderShape(const btVector3& halfExtents);
48
49 void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
50
51 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
52
53 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
54
55 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
56
57 virtual void setMargin(btScalar collisionMargin)
58 {
59 //correct the m_implicitShapeDimensions for the margin
60 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
61 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
62
63 btConvexInternalShape::setMargin(collisionMargin);
64 btVector3 newMargin(getMargin(), getMargin(), getMargin());
65 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
66 }
67
68 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
69 {
70 btVector3 supVertex;
71 supVertex = localGetSupportingVertexWithoutMargin(vec);
72
73 if (getMargin() != btScalar(0.))
74 {
75 btVector3 vecnorm = vec;
76 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
77 {
78 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
79 }
80 vecnorm.normalize();
81 supVertex += getMargin() * vecnorm;
82 }
83 return supVertex;
84 }
85
86 //use box inertia
87 // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
88
89 int getUpAxis() const
90 {
91 return m_upAxis;
92 }
93
94 virtual btVector3 getAnisotropicRollingFrictionDirection() const
95 {
96 btVector3 aniDir(0, 0, 0);
97 aniDir[getUpAxis()] = 1;
98 return aniDir;
99 }
100
101 virtual btScalar getRadius() const
102 {
103 return getHalfExtentsWithMargin().getX();
104 }
105
106 virtual void setLocalScaling(const btVector3& scaling)
107 {
108 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
109 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
110 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
111
112 btConvexInternalShape::setLocalScaling(scaling);
113
114 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
115 }
116
117 //debugging
118 virtual const char* getName() const
119 {
120 return "CylinderY";
121 }
122
123 virtual int calculateSerializeBufferSize() const;
124
125 ///fills the dataBuffer and returns the struct name (and 0 on failure)
126 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
127 };
128
129 class btCylinderShapeX : public btCylinderShape
130 {
131 public:
132 BT_DECLARE_ALIGNED_ALLOCATOR();
133
134 btCylinderShapeX(const btVector3& halfExtents);
135
136 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
137 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
138
139 //debugging
getName()140 virtual const char* getName() const
141 {
142 return "CylinderX";
143 }
144
getRadius()145 virtual btScalar getRadius() const
146 {
147 return getHalfExtentsWithMargin().getY();
148 }
149 };
150
151 class btCylinderShapeZ : public btCylinderShape
152 {
153 public:
154 BT_DECLARE_ALIGNED_ALLOCATOR();
155
156 btCylinderShapeZ(const btVector3& halfExtents);
157
158 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
159 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
160
161 //debugging
getName()162 virtual const char* getName() const
163 {
164 return "CylinderZ";
165 }
166
getRadius()167 virtual btScalar getRadius() const
168 {
169 return getHalfExtentsWithMargin().getX();
170 }
171 };
172
173 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
174 struct btCylinderShapeData
175 {
176 btConvexInternalShapeData m_convexInternalShapeData;
177
178 int m_upAxis;
179
180 char m_padding[4];
181 };
182
calculateSerializeBufferSize()183 SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
184 {
185 return sizeof(btCylinderShapeData);
186 }
187
188 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)189 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
190 {
191 btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
192
193 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
194
195 shapeData->m_upAxis = m_upAxis;
196
197 // Fill padding with zeros to appease msan.
198 shapeData->m_padding[0] = 0;
199 shapeData->m_padding[1] = 0;
200 shapeData->m_padding[2] = 0;
201 shapeData->m_padding[3] = 0;
202
203 return "btCylinderShapeData";
204 }
205
206 #endif //BT_CYLINDER_MINKOWSKI_H
207