16 #ifndef BT_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
47 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(
const btVector3* vectors,
btVector3* supportVerticesOut,
int numVectors)
const;
52 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
53 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
56 btVector3 newMargin(getMargin(),getMargin(),getMargin());
57 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
63 btVector3 halfExtents(getRadius(),getRadius(),getRadius());
64 halfExtents[m_upAxis] = getRadius() + getHalfHeight();
65 halfExtents +=
btVector3(getMargin(),getMargin(),getMargin());
68 btVector3 extent = halfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
70 aabbMin = center - extent;
71 aabbMax = center + extent;
76 return "CapsuleShape";
86 int radiusAxis = (m_upAxis+2)%3;
87 return m_implicitShapeDimensions[radiusAxis];
92 return m_implicitShapeDimensions[m_upAxis];
97 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
98 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
99 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
103 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
110 aniDir[getUpAxis()]=1;
115 virtual int calculateSerializeBufferSize()
const;
118 virtual const char* serialize(
void* dataBuffer,
btSerializer* serializer)
const;
181 return "btCapsuleShapeData";
184 #endif //BT_CAPSULE_SHAPE_H
btCapsuleShapeX(btScalar radius, btScalar height)
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 const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
virtual const char * getName() const
btCapsuleShapeX represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
#define SIMD_FORCE_INLINE
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
btScalar getRadius() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btCapsuleShapeZ(btScalar radius, btScalar height)
virtual void setMargin(btScalar margin)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
virtual int calculateSerializeBufferSize() const
virtual void setMargin(btScalar collisionMargin)
btConvexInternalShapeData m_convexInternalShapeData
btVector3 can be used to represent 3D points and vectors.
#define ATTRIBUTE_ALIGNED16(a)
virtual void setLocalScaling(const btVector3 &scaling)
virtual const char * getName() const
virtual const char * getName() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
btCapsuleShapeZ represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
virtual void setLocalScaling(const btVector3 &scaling)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
btScalar getHalfHeight() 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...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...