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_CONE_MINKOWSKI_H 17 #define BT_CONE_MINKOWSKI_H 18 19 #include "btConvexInternalShape.h" 20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types 21 22 ///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis. 23 ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape 24 25 { 26 27 btScalar m_sinAngle; 28 btScalar m_radius; 29 btScalar m_height; 30 int m_coneIndices[3]; 31 btVector3 coneLocalSupport(const btVector3& v) const; 32 33 34 public: 35 BT_DECLARE_ALIGNED_ALLOCATOR(); 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 47 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const 48 { 49 btTransform identity; 50 identity.setIdentity(); 51 btVector3 aabbMin,aabbMax; 52 getAabb(identity,aabbMin,aabbMax); 53 54 btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5); 55 56 btScalar margin = getMargin(); 57 58 btScalar lx=btScalar(2.)*(halfExtents.x()+margin); 59 btScalar ly=btScalar(2.)*(halfExtents.y()+margin); 60 btScalar lz=btScalar(2.)*(halfExtents.z()+margin); 61 const btScalar x2 = lx*lx; 62 const btScalar y2 = ly*ly; 63 const btScalar z2 = lz*lz; 64 const btScalar scaledmass = mass * btScalar(0.08333333); 65 66 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2)); 67 68 // inertia.x() = scaledmass * (y2+z2); 69 // inertia.y() = scaledmass * (x2+z2); 70 // inertia.z() = scaledmass * (x2+y2); 71 } 72 73 74 virtual const char* getName()const 75 { 76 return "Cone"; 77 } 78 79 ///choose upAxis index 80 void setConeUpIndex(int upIndex); 81 82 int getConeUpIndex() const 83 { 84 return m_coneIndices[1]; 85 } 86 87 virtual btVector3 getAnisotropicRollingFrictionDirection() const 88 { 89 return btVector3 (0,1,0); 90 } 91 92 virtual void setLocalScaling(const btVector3& scaling); 93 94 95 virtual int calculateSerializeBufferSize() const; 96 97 ///fills the dataBuffer and returns the struct name (and 0 on failure) 98 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 99 100 101 }; 102 103 ///btConeShape implements a Cone shape, around the X axis 104 class btConeShapeX : public btConeShape 105 { 106 public: 107 btConeShapeX(btScalar radius,btScalar height); 108 109 virtual btVector3 getAnisotropicRollingFrictionDirection() const 110 { 111 return btVector3 (1,0,0); 112 } 113 114 //debugging 115 virtual const char* getName()const 116 { 117 return "ConeX"; 118 } 119 120 121 }; 122 123 ///btConeShapeZ implements a Cone shape, around the Z axis 124 class btConeShapeZ : public btConeShape 125 { 126 public: 127 btConeShapeZ(btScalar radius,btScalar height); 128 129 virtual btVector3 getAnisotropicRollingFrictionDirection() const 130 { 131 return btVector3 (0,0,1); 132 } 133 134 //debugging 135 virtual const char* getName()const 136 { 137 return "ConeZ"; 138 } 139 140 141 }; 142 143 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 144 struct btConeShapeData 145 { 146 btConvexInternalShapeData m_convexInternalShapeData; 147 148 int m_upIndex; 149 150 char m_padding[4]; 151 }; 152 153 SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const 154 { 155 return sizeof(btConeShapeData); 156 } 157 158 ///fills the dataBuffer and returns the struct name (and 0 on failure) 159 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const 160 { 161 btConeShapeData* shapeData = (btConeShapeData*) dataBuffer; 162 163 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); 164 165 shapeData->m_upIndex = m_coneIndices[1]; 166 167 return "btConeShapeData"; 168 } 169 170 #endif //BT_CONE_MINKOWSKI_H 171 172
