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) btCylinderShape : public btConvexInternalShape
25
26 {
27
28 protected:
29
30 int m_upAxis;
31
32 public:
33
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36 btVector3 getHalfExtentsWithMargin() const
37 {
38 btVector3 halfExtents = getHalfExtentsWithoutMargin();
39 btVector3 margin(getMargin(),getMargin(),getMargin());
40 halfExtents += margin;
41 return halfExtents;
42 }
43
44 const btVector3& getHalfExtentsWithoutMargin() const
45 {
46 return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
47 }
48
49 btCylinderShape (const btVector3& halfExtents);
50
51 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
52
53 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
54
55 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
56
57 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
58
59 virtual void setMargin(btScalar collisionMargin)
60 {
61 //correct the m_implicitShapeDimensions for the margin
62 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
63 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
64
65 btConvexInternalShape::setMargin(collisionMargin);
66 btVector3 newMargin(getMargin(),getMargin(),getMargin());
67 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
68
69 }
70
71 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
72 {
73
74 btVector3 supVertex;
75 supVertex = localGetSupportingVertexWithoutMargin(vec);
76
77 if ( getMargin()!=btScalar(0.) )
78 {
79 btVector3 vecnorm = vec;
80 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
81 {
82 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
83 }
84 vecnorm.normalize();
85 supVertex+= getMargin() * vecnorm;
86 }
87 return supVertex;
88 }
89
90
91 //use box inertia
92 // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
93
94
95 int getUpAxis() const
96 {
97 return m_upAxis;
98 }
99
100 virtual btVector3 getAnisotropicRollingFrictionDirection() const
101 {
102 btVector3 aniDir(0,0,0);
103 aniDir[getUpAxis()]=1;
104 return aniDir;
105 }
106
107 virtual btScalar getRadius() const
108 {
109 return getHalfExtentsWithMargin().getX();
110 }
111
112 virtual void setLocalScaling(const btVector3& scaling)
113 {
114 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
115 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
116 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
117
118 btConvexInternalShape::setLocalScaling(scaling);
119
120 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
121
122 }
123
124 //debugging
125 virtual const char* getName()const
126 {
127 return "CylinderY";
128 }
129
130 virtual int calculateSerializeBufferSize() const;
131
132 ///fills the dataBuffer and returns the struct name (and 0 on failure)
133 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
134
135 };
136
137 class btCylinderShapeX : public btCylinderShape
138 {
139 public:
140 BT_DECLARE_ALIGNED_ALLOCATOR();
141
142 btCylinderShapeX (const btVector3& halfExtents);
143
144 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
145 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
146
147 //debugging
getName()148 virtual const char* getName()const
149 {
150 return "CylinderX";
151 }
152
getRadius()153 virtual btScalar getRadius() const
154 {
155 return getHalfExtentsWithMargin().getY();
156 }
157
158 };
159
160 class btCylinderShapeZ : public btCylinderShape
161 {
162 public:
163 BT_DECLARE_ALIGNED_ALLOCATOR();
164
165 btCylinderShapeZ (const btVector3& halfExtents);
166
167 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
168 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
169
170 //debugging
getName()171 virtual const char* getName()const
172 {
173 return "CylinderZ";
174 }
175
getRadius()176 virtual btScalar getRadius() const
177 {
178 return getHalfExtentsWithMargin().getX();
179 }
180
181 };
182
183 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
184 struct btCylinderShapeData
185 {
186 btConvexInternalShapeData m_convexInternalShapeData;
187
188 int m_upAxis;
189
190 char m_padding[4];
191 };
192
calculateSerializeBufferSize()193 SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
194 {
195 return sizeof(btCylinderShapeData);
196 }
197
198 ///fills the dataBuffer and returns the struct name (and 0 on failure)
serialize(void * dataBuffer,btSerializer * serializer)199 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
200 {
201 btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
202
203 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
204
205 shapeData->m_upAxis = m_upAxis;
206
207 return "btCylinderShapeData";
208 }
209
210
211
212 #endif //BT_CYLINDER_MINKOWSKI_H
213
214