dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btConeShape.cpp

   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 #include "btConeShape.h"
  17
  18 btConeShape::btConeShape(btScalar radius, btScalar height) : btConvexInternalShape(),
  19                                                                                                                          m_radius(radius),
  20                                                                                                                          m_height(height)
  21 {
  22         m_shapeType = CONE_SHAPE_PROXYTYPE;
  23         setConeUpIndex(1);
  24         btVector3 halfExtents;
  25         m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
  26 }
  27
  28 btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
  29 {
  30         setConeUpIndex(2);
  31 }
  32
  33 btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
  34 {
  35         setConeUpIndex(0);
  36 }
  37
  38 ///choose upAxis index
  39 void btConeShape::setConeUpIndex(int upIndex)
  40 {
  41         switch (upIndex)
  42         {
  43                 case 0:
  44                         m_coneIndices[0] = 1;
  45                         m_coneIndices[1] = 0;
  46                         m_coneIndices[2] = 2;
  47                         break;
  48                 case 1:
  49                         m_coneIndices[0] = 0;
  50                         m_coneIndices[1] = 1;
  51                         m_coneIndices[2] = 2;
  52                         break;
  53                 case 2:
  54                         m_coneIndices[0] = 0;
  55                         m_coneIndices[1] = 2;
  56                         m_coneIndices[2] = 1;
  57                         break;
  58                 default:
  59                         btAssert(0);
  60         };
  61
  62         m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
  63         m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
  64         m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
  65 }
  66
  67 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
  68 {
  69         btScalar halfHeight = m_height * btScalar(0.5);
  70
  71         if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
  72         {
  73                 btVector3 tmp;
  74
  75                 tmp[m_coneIndices[0]] = btScalar(0.);
  76                 tmp[m_coneIndices[1]] = halfHeight;
  77                 tmp[m_coneIndices[2]] = btScalar(0.);
  78                 return tmp;
  79         }
  80         else
  81         {
  82                 btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
  83                 if (s > SIMD_EPSILON)
  84                 {
  85                         btScalar d = m_radius / s;
  86                         btVector3 tmp;
  87                         tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
  88                         tmp[m_coneIndices[1]] = -halfHeight;
  89                         tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
  90                         return tmp;
  91                 }
  92                 else
  93                 {
  94                         btVector3 tmp;
  95                         tmp[m_coneIndices[0]] = btScalar(0.);
  96                         tmp[m_coneIndices[1]] = -halfHeight;
  97                         tmp[m_coneIndices[2]] = btScalar(0.);
  98                         return tmp;
  99                 }
 100         }
 101 }
 102
 103 btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
 104 {
 105         return coneLocalSupport(vec);
 106 }
 107
 108 void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
 109 {
 110         for (int i = 0; i < numVectors; i++)
 111         {
 112                 const btVector3& vec = vectors[i];
 113                 supportVerticesOut[i] = coneLocalSupport(vec);
 114         }
 115 }
 116
 117 btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
 118 {
 119         btVector3 supVertex = coneLocalSupport(vec);
 120         if (getMargin() != btScalar(0.))
 121         {
 122                 btVector3 vecnorm = vec;
 123                 if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
 124                 {
 125                         vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
 126                 }
 127                 vecnorm.normalize();
 128                 supVertex += getMargin() * vecnorm;
 129         }
 130         return supVertex;
 131 }
 132
 133 void btConeShape::setLocalScaling(const btVector3& scaling)
 134 {
 135         int axis = m_coneIndices[1];
 136         int r1 = m_coneIndices[0];
 137         int r2 = m_coneIndices[2];
 138         m_height *= scaling[axis] / m_localScaling[axis];
 139         m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
 140         m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
 141         btConvexInternalShape::setLocalScaling(scaling);
 142 }