Bullet Collision Detection & Physics Library
btConeShape.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_CONE_MINKOWSKI_H
17#define BT_CONE_MINKOWSKI_H
18
21
24
25{
26
30 int m_coneIndices[3];
31 btVector3 coneLocalSupport(const btVector3& v) const;
32
33
34public:
36
37 btConeShape (btScalar radius,btScalar height);
38
39 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
40 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
41 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
42
43 btScalar getRadius() const { return m_radius;}
44 btScalar getHeight() const { return m_height;}
45
46 void setRadius(const btScalar radius)
47 {
48 m_radius = radius;
49 }
50 void setHeight(const btScalar height)
51 {
52 m_height = height;
53 }
54
55
56 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
57 {
58 btTransform identity;
59 identity.setIdentity();
60 btVector3 aabbMin,aabbMax;
61 getAabb(identity,aabbMin,aabbMax);
62
63 btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
64
65 btScalar margin = getMargin();
66
67 btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
68 btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
69 btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
70 const btScalar x2 = lx*lx;
71 const btScalar y2 = ly*ly;
72 const btScalar z2 = lz*lz;
73 const btScalar scaledmass = mass * btScalar(0.08333333);
74
75 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
76
77// inertia.x() = scaledmass * (y2+z2);
78// inertia.y() = scaledmass * (x2+z2);
79// inertia.z() = scaledmass * (x2+y2);
80 }
81
82
83 virtual const char* getName()const
84 {
85 return "Cone";
86 }
87
89 void setConeUpIndex(int upIndex);
90
91 int getConeUpIndex() const
92 {
93 return m_coneIndices[1];
94 }
95
97 {
98 return btVector3 (0,1,0);
99 }
100
101 virtual void setLocalScaling(const btVector3& scaling);
102
103
104 virtual int calculateSerializeBufferSize() const;
105
107 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
108
109
110};
111
114{
115 public:
116 btConeShapeX(btScalar radius,btScalar height);
117
119 {
120 return btVector3 (1,0,0);
121 }
122
123 //debugging
124 virtual const char* getName()const
125 {
126 return "ConeX";
127 }
128
129
130};
131
134{
135public:
136 btConeShapeZ(btScalar radius,btScalar height);
137
139 {
140 return btVector3 (0,0,1);
141 }
142
143 //debugging
144 virtual const char* getName()const
145 {
146 return "ConeZ";
147 }
148
149
150};
151
154{
156
158
159 char m_padding[4];
160};
161
163{
164 return sizeof(btConeShapeData);
165}
166
168SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
169{
170 btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
171
173
174 shapeData->m_upIndex = m_coneIndices[1];
175
176 // Fill padding with zeros to appease msan.
177 shapeData->m_padding[0] = 0;
178 shapeData->m_padding[1] = 0;
179 shapeData->m_padding[2] = 0;
180 shapeData->m_padding[3] = 0;
181
182 return "btConeShapeData";
183}
184
185#endif //BT_CONE_MINKOWSKI_H
186
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
btConeShape implements a Cone shape, around the X axis
Definition: btConeShape.h:114
virtual const char * getName() const
Definition: btConeShape.h:124
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:36
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:118
btConeShapeZ implements a Cone shape, around the Z axis
Definition: btConeShape.h:134
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:138
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:30
virtual const char * getName() const
Definition: btConeShape.h:144
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:25
btScalar getRadius() const
Definition: btConeShape.h:43
void setRadius(const btScalar radius)
Definition: btConeShape.h:46
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:96
btScalar m_height
Definition: btConeShape.h:29
btScalar m_radius
Definition: btConeShape.h:28
BT_DECLARE_ALIGNED_ALLOCATOR()
btScalar m_sinAngle
Definition: btConeShape.h:27
void setHeight(const btScalar height)
Definition: btConeShape.h:50
int getConeUpIndex() const
Definition: btConeShape.h:91
virtual int calculateSerializeBufferSize() const
Definition: btConeShape.h:162
virtual const char * getName() const
Definition: btConeShape.h:83
int m_coneIndices[3]
Definition: btConeShape.h:30
btScalar getHeight() const
Definition: btConeShape.h:44
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConeShape.h:168
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:56
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConeShape.h:154
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConeShape.h:155
char m_padding[4]
Definition: btConeShape.h:159
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64