Bullet Collision Detection & Physics Library
btCylinderShape.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
22
25
26{
27
28protected:
29
31
32public:
33
35
37 {
38 btVector3 halfExtents = getHalfExtentsWithoutMargin();
39 btVector3 margin(getMargin(),getMargin(),getMargin());
40 halfExtents += margin;
41 return halfExtents;
42 }
43
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
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
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
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
133 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
134
135};
136
138{
139public:
141
142 btCylinderShapeX (const btVector3& halfExtents);
143
145 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
146
147 //debugging
148 virtual const char* getName()const
149 {
150 return "CylinderX";
151 }
152
153 virtual btScalar getRadius() const
154 {
156 }
157
158};
159
161{
162public:
164
165 btCylinderShapeZ (const btVector3& halfExtents);
166
168 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
169
170 //debugging
171 virtual const char* getName()const
172 {
173 return "CylinderZ";
174 }
175
176 virtual btScalar getRadius() const
177 {
179 }
180
181};
182
185{
187
189
190 char m_padding[4];
191};
192
194{
195 return sizeof(btCylinderShapeData);
196}
197
199SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
200{
201 btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
202
204
205 shapeData->m_upAxis = m_upAxis;
206
207 // Fill padding with zeros to appease msan.
208 shapeData->m_padding[0] = 0;
209 shapeData->m_padding[1] = 0;
210 shapeData->m_padding[2] = 0;
211 shapeData->m_padding[3] = 0;
212
213 return "btCylinderShapeData";
214}
215
216
217
218#endif //BT_CYLINDER_MINKOWSKI_H
219
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
#define SIMD_EPSILON
Definition: btScalar.h:521
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual void setMargin(btScalar margin)
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void setLocalScaling(const btVector3 &scaling)
btCylinderShapeX(const btVector3 &halfExtents)
virtual btScalar getRadius() const
virtual const char * getName() const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btScalar getRadius() const
virtual const char * getName() const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btCylinderShapeZ(const btVector3 &halfExtents)
The btCylinderShape class implements a cylinder shape primitive, centered around the origin....
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
int getUpAxis() const
virtual btScalar getRadius() const
const btVector3 & getHalfExtentsWithoutMargin() const
virtual void setMargin(btScalar collisionMargin)
virtual int calculateSerializeBufferSize() const
virtual const char * getName() const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btVector3 getHalfExtentsWithMargin() const
virtual void setLocalScaling(const btVector3 &scaling)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:309
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData