2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
5 This software is provided 'as-is', without any express or implied warranty.
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8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
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16 #ifndef BT_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
22 ///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.
23 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
24 ///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.
25 ATTRIBUTE_ALIGNED16(class)
26 btCapsuleShape : public btConvexInternalShape
32 ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
33 btCapsuleShape() : btConvexInternalShape() { m_shapeType = CAPSULE_SHAPE_PROXYTYPE; };
36 BT_DECLARE_ALIGNED_ALLOCATOR();
38 btCapsuleShape(btScalar radius, btScalar height);
40 ///CollisionShape Interface
41 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
43 /// btConvexShape Interface
44 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
46 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
48 virtual void setMargin(btScalar collisionMargin)
50 //don't override the margin for capsules, their entire radius == margin
51 (void)collisionMargin;
54 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
56 btVector3 halfExtents(getRadius(), getRadius(), getRadius());
57 halfExtents[m_upAxis] = getRadius() + getHalfHeight();
58 btMatrix3x3 abs_b = t.getBasis().absolute();
59 btVector3 center = t.getOrigin();
60 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
62 aabbMin = center - extent;
63 aabbMax = center + extent;
66 virtual const char* getName() const
68 return "CapsuleShape";
76 btScalar getRadius() const
78 int radiusAxis = (m_upAxis + 2) % 3;
79 return m_implicitShapeDimensions[radiusAxis];
82 btScalar getHalfHeight() const
84 return m_implicitShapeDimensions[m_upAxis];
87 virtual void setLocalScaling(const btVector3& scaling)
89 btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
90 btConvexInternalShape::setLocalScaling(scaling);
91 m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
92 //update m_collisionMargin, since entire radius==margin
93 int radiusAxis = (m_upAxis + 2) % 3;
94 m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
97 virtual btVector3 getAnisotropicRollingFrictionDirection() const
99 btVector3 aniDir(0, 0, 0);
100 aniDir[getUpAxis()] = 1;
104 virtual int calculateSerializeBufferSize() const;
106 ///fills the dataBuffer and returns the struct name (and 0 on failure)
107 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
109 SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer);
112 ///btCapsuleShapeX represents a capsule around the Z axis
113 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
114 class btCapsuleShapeX : public btCapsuleShape
117 btCapsuleShapeX(btScalar radius, btScalar height);
120 virtual const char* getName() const
126 ///btCapsuleShapeZ represents a capsule around the Z axis
127 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
128 class btCapsuleShapeZ : public btCapsuleShape
131 btCapsuleShapeZ(btScalar radius, btScalar height);
134 virtual const char* getName() const
140 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
141 struct btCapsuleShapeData
143 btConvexInternalShapeData m_convexInternalShapeData;
150 SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
152 return sizeof(btCapsuleShapeData);
155 ///fills the dataBuffer and returns the struct name (and 0 on failure)
156 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
158 btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
160 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
162 shapeData->m_upAxis = m_upAxis;
164 // Fill padding with zeros to appease msan.
165 shapeData->m_padding[0] = 0;
166 shapeData->m_padding[1] = 0;
167 shapeData->m_padding[2] = 0;
168 shapeData->m_padding[3] = 0;
170 return "btCapsuleShapeData";
173 SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
175 m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
176 m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
177 m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
178 //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
179 m_upAxis = dataBuffer->m_upAxis;
182 #endif //BT_CAPSULE_SHAPE_H