Bullet Collision Detection & Physics Library
btCapsuleShape.h
Go to the documentation of this file.
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_CAPSULE_SHAPE_H
17#define BT_CAPSULE_SHAPE_H
18
21
22
27{
28protected:
30
31protected:
34
35public:
36
38
39 btCapsuleShape(btScalar radius,btScalar height);
40
42 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
43
45 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
46
47 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
48
49 virtual void setMargin(btScalar collisionMargin)
50 {
51 //don't override the margin for capsules, their entire radius == margin
52 }
53
54 virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55 {
56 btVector3 halfExtents(getRadius(),getRadius(),getRadius());
57 halfExtents[m_upAxis] = getRadius() + getHalfHeight();
58 btMatrix3x3 abs_b = t.getBasis().absolute();
59 btVector3 center = t.getOrigin();
60 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
61
62 aabbMin = center - extent;
63 aabbMax = center + extent;
64 }
65
66 virtual const char* getName()const
67 {
68 return "CapsuleShape";
69 }
70
71 int getUpAxis() const
72 {
73 return m_upAxis;
74 }
75
77 {
78 int radiusAxis = (m_upAxis+2)%3;
79 return m_implicitShapeDimensions[radiusAxis];
80 }
81
83 {
84 return m_implicitShapeDimensions[m_upAxis];
85 }
86
87 virtual void setLocalScaling(const btVector3& scaling)
88 {
89 btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
91 m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
92 //update m_collisionMargin, since entire radius==margin
93 int radiusAxis = (m_upAxis+2)%3;
94 m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
95 }
96
98 {
99 btVector3 aniDir(0,0,0);
100 aniDir[getUpAxis()]=1;
101 return aniDir;
102 }
103
104
105 virtual int calculateSerializeBufferSize() const;
106
108 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
109
110 SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
111
112};
113
117{
118public:
119
120 btCapsuleShapeX(btScalar radius,btScalar height);
121
122 //debugging
123 virtual const char* getName()const
124 {
125 return "CapsuleX";
126 }
127
128
129
130};
131
135{
136public:
137 btCapsuleShapeZ(btScalar radius,btScalar height);
138
139 //debugging
140 virtual const char* getName()const
141 {
142 return "CapsuleZ";
143 }
144
145
146};
147
150{
152
154
155 char m_padding[4];
156};
157
159{
160 return sizeof(btCapsuleShapeData);
161}
162
164SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
165{
166 btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
167
169
170 shapeData->m_upAxis = m_upAxis;
171
172 // Fill padding with zeros to appease msan.
173 shapeData->m_padding[0] = 0;
174 shapeData->m_padding[1] = 0;
175 shapeData->m_padding[2] = 0;
176 shapeData->m_padding[3] = 0;
177
178 return "btCapsuleShapeData";
179}
180
182{
186 //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
187 m_upAxis = dataBuffer->m_upAxis;
188}
189
190#endif //BT_CAPSULE_SHAPE_H
@ CAPSULE_SHAPE_PROXYTYPE
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
btCapsuleShapeX represents a capsule around the Z axis the total height is height+2*radius,...
btCapsuleShapeX(btScalar radius, btScalar height)
virtual const char * getName() const
btCapsuleShapeZ represents a capsule around the Z axis the total height is height+2*radius,...
virtual const char * getName() const
btCapsuleShapeZ(btScalar radius, btScalar height)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btScalar getRadius() const
virtual int calculateSerializeBufferSize() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
int getUpAxis() const
virtual void setLocalScaling(const btVector3 &scaling)
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 const char * getName() const
btScalar getHalfHeight() const
virtual void setMargin(btScalar collisionMargin)
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
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)
virtual void setLocalScaling(const btVector3 &scaling)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:937
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1330
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:731
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3FloatData m_implicitShapeDimensions