16#ifndef BT_OBB_BOX_2D_SHAPE_H
17#define BT_OBB_BOX_2D_SHAPE_H
41 btVector3 halfExtents = getHalfExtentsWithoutMargin();
42 btVector3 margin(getMargin(),getMargin(),getMargin());
43 halfExtents += margin;
49 return m_implicitShapeDimensions;
55 btVector3 halfExtents = getHalfExtentsWithoutMargin();
56 btVector3 margin(getMargin(),getMargin(),getMargin());
57 halfExtents += margin;
60 btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
61 btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
66 const btVector3& halfExtents = getHalfExtentsWithoutMargin();
69 btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
70 btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
75 const btVector3& halfExtents = getHalfExtentsWithoutMargin();
77 for (
int i=0;i<numVectors;i++)
81 btFsels(vec.
y(), halfExtents.
y(), -halfExtents.
y()),
82 btFsels(vec.
z(), halfExtents.
z(), -halfExtents.
z()));
104 if (minDimension>boxHalfExtents.
getY())
105 minDimension = boxHalfExtents.
getY();
108 btVector3 margin(getMargin(),getMargin(),getMargin());
109 m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
111 setSafeMargin(minDimension);
117 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
118 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
121 btVector3 newMargin(getMargin(),getMargin(),getMargin());
122 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
127 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
128 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
129 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
133 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
159 return &m_vertices[0];
164 return &m_normals[0];
177 getPlaneEquation(plane,i);
179 planeSupport = localGetSupportingVertex(-planeNormal);
203 btVector3 halfExtents = getHalfExtentsWithoutMargin();
206 halfExtents.
x() * (1-(i&1)) - halfExtents.
x() * (i&1),
207 halfExtents.
y() * (1-((i&2)>>1)) - halfExtents.
y() * ((i&2)>>1),
208 halfExtents.
z() * (1-((i&4)>>2)) - halfExtents.
z() * ((i&4)>>2));
214 btVector3 halfExtents = getHalfExtentsWithoutMargin();
305 getVertex(edgeVert0,pa );
306 getVertex(edgeVert1,pb );
315 btVector3 halfExtents = getHalfExtentsWithoutMargin();
319 bool result = (pt.
x() <= (halfExtents.
x()+tolerance)) &&
320 (pt.
x() >= (-halfExtents.
x()-tolerance)) &&
321 (pt.
y() <= (halfExtents.
y()+tolerance)) &&
322 (pt.
y() >= (-halfExtents.
y()-tolerance)) &&
323 (pt.
z() <= (halfExtents.
z()+tolerance)) &&
324 (pt.
z() >= (-halfExtents.
z()-tolerance));
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
#define ATTRIBUTE_ALIGNED16(a)
#define SIMD_FORCE_INLINE
The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified b...
virtual int getNumVertices() const
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
virtual int getNumEdges() const
btBox2dShape(const btVector3 &boxHalfExtents)
a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
virtual void setLocalScaling(const btVector3 &scaling)
virtual void setMargin(btScalar collisionMargin)
const btVector3 * getVertices() const
virtual int getNumPreferredPenetrationDirections() const
int getVertexCount() const
const btVector3 & getHalfExtentsWithoutMargin() const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
const btVector3 & getCentroid() const
virtual const char * getName() const
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual void getPlaneEquation(btVector4 &plane, int i) const
btVector3 getHalfExtentsWithMargin() const
virtual int getNumPlanes() const
virtual void getVertex(int i, btVector3 &vtx) const
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
const btVector3 * getNormals() const
virtual void setMargin(btScalar margin)
virtual void setLocalScaling(const btVector3 &scaling)
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
btVector3 can be used to represent 3D points and vectors.
const btScalar & getZ() const
Return the z value.
const btScalar & z() const
Return the z value.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
const btScalar & getY() const
Return the y value.
const btScalar & x() const
Return the x value.
const btScalar & getX() const
Return the x value.
const btScalar & y() const
Return the y value.
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.