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) btCylinderShape : public btConvexInternalShape
  25
  26 {
  27
  28 protected:
  29
  30         int     m_upAxis;
  31
  32 public:
  33
  34 BT_DECLARE_ALIGNED_ALLOCATOR();
  35
  36         btVector3 getHalfExtentsWithMargin() const
  37         {
  38                 btVector3 halfExtents = getHalfExtentsWithoutMargin();
  39                 btVector3 margin(getMargin(),getMargin(),getMargin());
  40                 halfExtents += margin;
  41                 return halfExtents;
  42         }
  43
  44         const btVector3& getHalfExtentsWithoutMargin() const
  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
 100         virtual btVector3       getAnisotropicRollingFrictionDirection() const
 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
 118                 btConvexInternalShape::setLocalScaling(scaling);
 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
 132         ///fills the dataBuffer and returns the struct name (and 0 on failure)
 133         virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
 134
 135 };
 136
 137 class btCylinderShapeX : public btCylinderShape
 138 {
 139 public:
 140         BT_DECLARE_ALIGNED_ALLOCATOR();
 141
 142         btCylinderShapeX (const btVector3& halfExtents);
 143
 144         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 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
 160 class btCylinderShapeZ : public btCylinderShape
 161 {
 162 public:
 163         BT_DECLARE_ALIGNED_ALLOCATOR();
 164
 165         btCylinderShapeZ (const btVector3& halfExtents);
 166
 167         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
 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
 183 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 184 struct  btCylinderShapeData
 185 {
 186         btConvexInternalShapeData       m_convexInternalShapeData;
 187
 188         int     m_upAxis;
 189
 190         char    m_padding[4];
 191 };
 192
 193 SIMD_FORCE_INLINE       int     btCylinderShape::calculateSerializeBufferSize() const
 194 {
 195         return sizeof(btCylinderShapeData);
 196 }
 197
 198         ///fills the dataBuffer and returns the struct name (and 0 on failure)
 199 SIMD_FORCE_INLINE       const char*     btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
 200 {
 201         btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
 202
 203         btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
 204
 205         shapeData->m_upAxis = m_upAxis;
 206
 207         return "btCylinderShapeData";
 208 }
 209
 210
 211
 212 #endif //BT_CYLINDER_MINKOWSKI_H
 213