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_CYLINDER_MINKOWSKI_H 17 #define BT_CYLINDER_MINKOWSKI_H 18 19 #include "btBoxShape.h" 20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types 21 #include "LinearMath/btVector3.h" 22 23 /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. 24 ATTRIBUTE_ALIGNED16(class) btCylinderShape : public btConvexInternalShape 25 26 { 27 28 protected: 29 30 int m_upAxis; 31 32 public: 33 34 BT_DECLARE_ALIGNED_ALLOCATOR(); 35 36 btVector3 getHalfExtentsWithMargin() const 37 { 38 btVector3 halfExtents = getHalfExtentsWithoutMargin(); 39 btVector3 margin(getMargin(),getMargin(),getMargin()); 40 halfExtents += margin; 41 return halfExtents; 42 } 43 44 const btVector3& getHalfExtentsWithoutMargin() const 45 { 46 return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included 47 } 48 49 btCylinderShape (const btVector3& halfExtents); 50 51 void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; 52 53 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 54 55 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; 56 57 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; 58 59 virtual void setMargin(btScalar collisionMargin) 60 { 61 //correct the m_implicitShapeDimensions for the margin 62 btVector3 oldMargin(getMargin(),getMargin(),getMargin()); 63 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; 64 65 btConvexInternalShape::setMargin(collisionMargin); 66 btVector3 newMargin(getMargin(),getMargin(),getMargin()); 67 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; 68 69 } 70 71 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const 72 { 73 74 btVector3 supVertex; 75 supVertex = localGetSupportingVertexWithoutMargin(vec); 76 77 if ( getMargin()!=btScalar(0.) ) 78 { 79 btVector3 vecnorm = vec; 80 if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) 81 { 82 vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); 83 } 84 vecnorm.normalize(); 85 supVertex+= getMargin() * vecnorm; 86 } 87 return supVertex; 88 } 89 90 91 //use box inertia 92 // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; 93 94 95 int getUpAxis() const 96 { 97 return m_upAxis; 98 } 99 100 virtual btVector3 getAnisotropicRollingFrictionDirection() const 101 { 102 btVector3 aniDir(0,0,0); 103 aniDir[getUpAxis()]=1; 104 return aniDir; 105 } 106 107 virtual btScalar getRadius() const 108 { 109 return getHalfExtentsWithMargin().getX(); 110 } 111 112 virtual void setLocalScaling(const btVector3& scaling) 113 { 114 btVector3 oldMargin(getMargin(),getMargin(),getMargin()); 115 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; 116 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; 117 118 btConvexInternalShape::setLocalScaling(scaling); 119 120 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; 121 122 } 123 124 //debugging 125 virtual const char* getName()const 126 { 127 return "CylinderY"; 128 } 129 130 virtual int calculateSerializeBufferSize() const; 131 132 ///fills the dataBuffer and returns the struct name (and 0 on failure) 133 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; 134 135 }; 136 137 class btCylinderShapeX : public btCylinderShape 138 { 139 public: 140 BT_DECLARE_ALIGNED_ALLOCATOR(); 141 142 btCylinderShapeX (const btVector3& halfExtents); 143 144 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; 145 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; 146 147 //debugging 148 virtual const char* getName()const 149 { 150 return "CylinderX"; 151 } 152 153 virtual btScalar getRadius() const 154 { 155 return getHalfExtentsWithMargin().getY(); 156 } 157 158 }; 159 160 class btCylinderShapeZ : public btCylinderShape 161 { 162 public: 163 BT_DECLARE_ALIGNED_ALLOCATOR(); 164 165 btCylinderShapeZ (const btVector3& halfExtents); 166 167 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; 168 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; 169 170 //debugging 171 virtual const char* getName()const 172 { 173 return "CylinderZ"; 174 } 175 176 virtual btScalar getRadius() const 177 { 178 return getHalfExtentsWithMargin().getX(); 179 } 180 181 }; 182 183 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 184 struct btCylinderShapeData 185 { 186 btConvexInternalShapeData m_convexInternalShapeData; 187 188 int m_upAxis; 189 190 char m_padding[4]; 191 }; 192 193 SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const 194 { 195 return sizeof(btCylinderShapeData); 196 } 197 198 ///fills the dataBuffer and returns the struct name (and 0 on failure) 199 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const 200 { 201 btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; 202 203 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); 204 205 shapeData->m_upAxis = m_upAxis; 206 207 return "btCylinderShapeData"; 208 } 209 210 211 212 #endif //BT_CYLINDER_MINKOWSKI_H 213 214
