Bullet Collision Detection & Physics Library
btCylinderShape.h
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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"
21 #include "LinearMath/btVector3.h"
22 
25 
26 {
27 
28 protected:
29 
30  int m_upAxis;
31 
32 public:
33 
35 
37  {
38  btVector3 halfExtents = getHalfExtentsWithoutMargin();
39  btVector3 margin(getMargin(),getMargin(),getMargin());
40  halfExtents += margin;
41  return halfExtents;
42  }
43 
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 
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 
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 
133  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
134 
135 };
136 
138 {
139 public:
141 
142  btCylinderShapeX (const btVector3& halfExtents);
143 
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 
161 {
162 public:
164 
165  btCylinderShapeZ (const btVector3& halfExtents);
166 
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 
185 {
187 
188  int m_upAxis;
189 
190  char m_padding[4];
191 };
192 
194 {
195  return sizeof(btCylinderShapeData);
196 }
197 
199 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
200 {
201  btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
202 
204 
205  shapeData->m_upAxis = m_upAxis;
206 
207  return "btCylinderShapeData";
208 }
209 
210 
211 
212 #endif //BT_CYLINDER_MINKOWSKI_H
213 
#define SIMD_EPSILON
Definition: btScalar.h:448
btCylinderShapeZ(const btVector3 &halfExtents)
btVector3 getHalfExtentsWithMargin() const
virtual const char * getName() const
virtual void setMargin(btScalar collisionMargin)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
virtual btScalar getRadius() const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
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 int calculateSerializeBufferSize() const
#define SIMD_FORCE_INLINE
Definition: btScalar.h:58
virtual int calculateSerializeBufferSize() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
const btVector3 & getHalfExtentsWithoutMargin() const
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:297
virtual btScalar getRadius() const
virtual void setMargin(btScalar margin)
int getUpAxis() const
virtual btScalar getRadius() const
virtual void setLocalScaling(const btVector3 &scaling)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:59
btCylinderShapeX(const btVector3 &halfExtents)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:357
The btCylinderShape class implements a cylinder shape primitive, centered around the origin...
virtual const char * getName() const
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)
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btConvexInternalShapeData m_convexInternalShapeData
virtual const char * getName() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266