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 #include "btConeShape.h"
17
btConeShape(btScalar radius,btScalar height)18 btConeShape::btConeShape(btScalar radius, btScalar height) : btConvexInternalShape(),
19 m_radius(radius),
20 m_height(height)
21 {
22 m_shapeType = CONE_SHAPE_PROXYTYPE;
23 setConeUpIndex(1);
24 btVector3 halfExtents;
25 m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
26 }
27
btConeShapeZ(btScalar radius,btScalar height)28 btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
29 {
30 setConeUpIndex(2);
31 }
32
btConeShapeX(btScalar radius,btScalar height)33 btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
34 {
35 setConeUpIndex(0);
36 }
37
38 ///choose upAxis index
setConeUpIndex(int upIndex)39 void btConeShape::setConeUpIndex(int upIndex)
40 {
41 switch (upIndex)
42 {
43 case 0:
44 m_coneIndices[0] = 1;
45 m_coneIndices[1] = 0;
46 m_coneIndices[2] = 2;
47 break;
48 case 1:
49 m_coneIndices[0] = 0;
50 m_coneIndices[1] = 1;
51 m_coneIndices[2] = 2;
52 break;
53 case 2:
54 m_coneIndices[0] = 0;
55 m_coneIndices[1] = 2;
56 m_coneIndices[2] = 1;
57 break;
58 default:
59 btAssert(0);
60 };
61
62 m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
63 m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
64 m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
65 }
66
coneLocalSupport(const btVector3 & v) const67 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
68 {
69 btScalar halfHeight = m_height * btScalar(0.5);
70
71 if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
72 {
73 btVector3 tmp;
74
75 tmp[m_coneIndices[0]] = btScalar(0.);
76 tmp[m_coneIndices[1]] = halfHeight;
77 tmp[m_coneIndices[2]] = btScalar(0.);
78 return tmp;
79 }
80 else
81 {
82 btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
83 if (s > SIMD_EPSILON)
84 {
85 btScalar d = m_radius / s;
86 btVector3 tmp;
87 tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
88 tmp[m_coneIndices[1]] = -halfHeight;
89 tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
90 return tmp;
91 }
92 else
93 {
94 btVector3 tmp;
95 tmp[m_coneIndices[0]] = btScalar(0.);
96 tmp[m_coneIndices[1]] = -halfHeight;
97 tmp[m_coneIndices[2]] = btScalar(0.);
98 return tmp;
99 }
100 }
101 }
102
localGetSupportingVertexWithoutMargin(const btVector3 & vec) const103 btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
104 {
105 return coneLocalSupport(vec);
106 }
107
batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 * vectors,btVector3 * supportVerticesOut,int numVectors) const108 void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
109 {
110 for (int i = 0; i < numVectors; i++)
111 {
112 const btVector3& vec = vectors[i];
113 supportVerticesOut[i] = coneLocalSupport(vec);
114 }
115 }
116
localGetSupportingVertex(const btVector3 & vec) const117 btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
118 {
119 btVector3 supVertex = coneLocalSupport(vec);
120 if (getMargin() != btScalar(0.))
121 {
122 btVector3 vecnorm = vec;
123 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
124 {
125 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
126 }
127 vecnorm.normalize();
128 supVertex += getMargin() * vecnorm;
129 }
130 return supVertex;
131 }
132
setLocalScaling(const btVector3 & scaling)133 void btConeShape::setLocalScaling(const btVector3& scaling)
134 {
135 int axis = m_coneIndices[1];
136 int r1 = m_coneIndices[0];
137 int r2 = m_coneIndices[2];
138 m_height *= scaling[axis] / m_localScaling[axis];
139 m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
140 m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
141 btConvexInternalShape::setLocalScaling(scaling);
142 }