dali-physics/third-party/bullet3/src/BulletCollision/CollisionShapes/btCylinderShape.h

   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)
  25 btCylinderShape : public btConvexInternalShape
  26
  27 {
  28 protected:
  29         int m_upAxis;
  30
  31 public:
  32         BT_DECLARE_ALIGNED_ALLOCATOR();
  33
  34         btVector3 getHalfExtentsWithMargin() const
  35         {
  36                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
  37                 btVector3 margin(getMargin(), getMargin(), getMargin());
  38                 halfExtents += margin;
  39                 return halfExtents;
  40         }
  41
  42         const btVector3& getHalfExtentsWithoutMargin() const
  43         {
  44                 return m_implicitShapeDimensions;  //changed in Bullet 2.63: assume the scaling and margin are included
  45         }
  46
  47         btCylinderShape(const btVector3& halfExtents);
  48
  49         void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
  50
  51         virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
  52
  53         virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
  54
  55         virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
  56
  57         virtual void setMargin(btScalar collisionMargin)
  58         {
  59                 //correct the m_implicitShapeDimensions for the margin
  60                 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
  61                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
  62
  63                 btConvexInternalShape::setMargin(collisionMargin);
  64                 btVector3 newMargin(getMargin(), getMargin(), getMargin());
  65                 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
  66         }
  67
  68         virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
  69         {
  70                 btVector3 supVertex;
  71                 supVertex = localGetSupportingVertexWithoutMargin(vec);
  72
  73                 if (getMargin() != btScalar(0.))
  74                 {
  75                         btVector3 vecnorm = vec;
  76                         if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
  77                         {
  78                                 vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
  79                         }
  80                         vecnorm.normalize();
  81                         supVertex += getMargin() * vecnorm;
  82                 }
  83                 return supVertex;
  84         }
  85
  86         //use box inertia
  87         //      virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
  88
  89         int getUpAxis() const
  90         {
  91                 return m_upAxis;
  92         }
  93
  94         virtual btVector3 getAnisotropicRollingFrictionDirection() const
  95         {
  96                 btVector3 aniDir(0, 0, 0);
  97                 aniDir[getUpAxis()] = 1;
  98                 return aniDir;
  99         }
 100
 101         virtual btScalar getRadius() const
 102         {
 103                 return getHalfExtentsWithMargin().getX();
 104         }
 105
 106         virtual void setLocalScaling(const btVector3& scaling)
 107         {
 108                 btVector3 oldMargin(getMargin(), getMargin(), getMargin());
 109                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
 110                 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
 111
 112                 btConvexInternalShape::setLocalScaling(scaling);
 113
 114                 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
 115         }
 116
 117         //debugging
 118         virtual const char* getName() const
 119         {
 120                 return "CylinderY";
 121         }
 122
 123         virtual int calculateSerializeBufferSize() const;
 124
 125         ///fills the dataBuffer and returns the struct name (and 0 on failure)
 126         virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
 127 };
 128
 129 class btCylinderShapeX : public btCylinderShape
 130 {
 131 public:
 132         BT_DECLARE_ALIGNED_ALLOCATOR();
 133
 134         btCylinderShapeX(const btVector3& halfExtents);
 135
 136         virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 137         virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 138
 139         //debugging
 140         virtual const char* getName() const
 141         {
 142                 return "CylinderX";
 143         }
 144
 145         virtual btScalar getRadius() const
 146         {
 147                 return getHalfExtentsWithMargin().getY();
 148         }
 149 };
 150
 151 class btCylinderShapeZ : public btCylinderShape
 152 {
 153 public:
 154         BT_DECLARE_ALIGNED_ALLOCATOR();
 155
 156         btCylinderShapeZ(const btVector3& halfExtents);
 157
 158         virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
 159         virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 160
 161         //debugging
 162         virtual const char* getName() const
 163         {
 164                 return "CylinderZ";
 165         }
 166
 167         virtual btScalar getRadius() const
 168         {
 169                 return getHalfExtentsWithMargin().getX();
 170         }
 171 };
 172
 173 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 174 struct btCylinderShapeData
 175 {
 176         btConvexInternalShapeData m_convexInternalShapeData;
 177
 178         int m_upAxis;
 179
 180         char m_padding[4];
 181 };
 182
 183 SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
 184 {
 185         return sizeof(btCylinderShapeData);
 186 }
 187
 188 ///fills the dataBuffer and returns the struct name (and 0 on failure)
 189 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
 190 {
 191         btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
 192
 193         btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 194
 195         shapeData->m_upAxis = m_upAxis;
 196
 197         // Fill padding with zeros to appease msan.
 198         shapeData->m_padding[0] = 0;
 199         shapeData->m_padding[1] = 0;
 200         shapeData->m_padding[2] = 0;
 201         shapeData->m_padding[3] = 0;
 202
 203         return "btCylinderShapeData";
 204 }
 205
 206 #endif  //BT_CYLINDER_MINKOWSKI_H