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_CAPSULE_SHAPE_H 17 #define BT_CAPSULE_SHAPE_H 18 19 #include "btConvexInternalShape.h" 20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types 21 22 23 ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. 24 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. 25 ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. 26 ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape 27 { 28 protected: 29 int m_upAxis; 30 31 protected: 32 ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. 33 btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; 34 35 public: 36 37 BT_DECLARE_ALIGNED_ALLOCATOR(); 38 39 btCapsuleShape(btScalar radius,btScalar height); 40 41 ///CollisionShape Interface 42 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 43 44 /// btConvexShape Interface 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 //correct the m_implicitShapeDimensions for the margin 52 btVector3 oldMargin(getMargin(),getMargin(),getMargin()); 53 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; 54 55 btConvexInternalShape::setMargin(collisionMargin); 56 btVector3 newMargin(getMargin(),getMargin(),getMargin()); 57 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; 58 59 } 60 61 virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const 62 { 63 btVector3 halfExtents(getRadius(),getRadius(),getRadius()); 64 halfExtents[m_upAxis] = getRadius() + getHalfHeight(); 65 halfExtents += btVector3(getMargin(),getMargin(),getMargin()); 66 btMatrix3x3 abs_b = t.getBasis().absolute(); 67 btVector3 center = t.getOrigin(); 68 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]); 69 70 aabbMin = center - extent; 71 aabbMax = center + extent; 72 } 73 74 virtual const char* getName()const 75 { 76 return "CapsuleShape"; 77 } 78 79 int getUpAxis() const 80 { 81 return m_upAxis; 82 } 83 84 btScalar getRadius() const 85 { 86 int radiusAxis = (m_upAxis+2)%3; 87 return m_implicitShapeDimensions[radiusAxis]; 88 } 89 90 btScalar getHalfHeight() const 91 { 92 return m_implicitShapeDimensions[m_upAxis]; 93 } 94 95 virtual void setLocalScaling(const btVector3& scaling) 96 { 97 btVector3 oldMargin(getMargin(),getMargin(),getMargin()); 98 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; 99 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; 100 101 btConvexInternalShape::setLocalScaling(scaling); 102 103 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; 104 105 } 106 107 virtual btVector3 getAnisotropicRollingFrictionDirection() const 108 { 109 btVector3 aniDir(0,0,0); 110 aniDir[getUpAxis()]=1; 111 return aniDir; 112 } 113 114 115 virtual int calculateSerializeBufferSize() const; 116 117 ///fills the dataBuffer and returns the struct name (and 0 on failure) 118 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 119 120 SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer); 121 122 }; 123 124 ///btCapsuleShapeX represents a capsule around the Z axis 125 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. 126 class btCapsuleShapeX : public btCapsuleShape 127 { 128 public: 129 130 btCapsuleShapeX(btScalar radius,btScalar height); 131 132 //debugging 133 virtual const char* getName()const 134 { 135 return "CapsuleX"; 136 } 137 138 139 140 }; 141 142 ///btCapsuleShapeZ represents a capsule around the Z axis 143 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. 144 class btCapsuleShapeZ : public btCapsuleShape 145 { 146 public: 147 btCapsuleShapeZ(btScalar radius,btScalar height); 148 149 //debugging 150 virtual const char* getName()const 151 { 152 return "CapsuleZ"; 153 } 154 155 156 }; 157 158 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 159 struct btCapsuleShapeData 160 { 161 btConvexInternalShapeData m_convexInternalShapeData; 162 163 int m_upAxis; 164 165 char m_padding[4]; 166 }; 167 168 SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const 169 { 170 return sizeof(btCapsuleShapeData); 171 } 172 173 ///fills the dataBuffer and returns the struct name (and 0 on failure) 174 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const 175 { 176 btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer; 177 178 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); 179 180 shapeData->m_upAxis = m_upAxis; 181 182 return "btCapsuleShapeData"; 183 } 184 185 SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer) 186 { 187 m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions); 188 m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin; 189 m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling); 190 //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis 191 m_upAxis = dataBuffer->m_upAxis; 192 } 193 194 #endif //BT_CAPSULE_SHAPE_H 195
