Bullet Collision Detection & Physics Library: btConeShape.cpp Source File

Bullet Collision Detection & Physics Library

btConeShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btConeShape.h"
17
18btConeShape::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
28btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
29{
30 setConeUpIndex(2);
31}
32
33btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
34{
35 setConeUpIndex(0);
36}
37
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}
CONE_SHAPE_PROXYTYPE
@ CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btConeShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btSqrt
btScalar btSqrt(btScalar y)
Definition: btScalar.h:466
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConeShapeX::btConeShapeX
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:33
btConeShapeZ::btConeShapeZ
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:28
btConeShape
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:26
btConeShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btConeShape.cpp:103
btConeShape::btConeShape
btConeShape(btScalar radius, btScalar height)
Definition: btConeShape.cpp:18
btConeShape::m_height
btScalar m_height
Definition: btConeShape.h:29
btConeShape::m_radius
btScalar m_radius
Definition: btConeShape.h:28
btConeShape::m_sinAngle
btScalar m_sinAngle
Definition: btConeShape.h:27
btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btConeShape.cpp:108
btConeShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConeShape.cpp:133
btConeShape::m_coneIndices
int m_coneIndices[3]
Definition: btConeShape.h:30
btConeShape::coneLocalSupport
btVector3 coneLocalSupport(const btVector3 &v) const
Definition: btConeShape.cpp:67
btConeShape::setConeUpIndex
void setConeUpIndex(int upIndex)
choose upAxis index
Definition: btConeShape.cpp:39
btConeShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConeShape.cpp:117
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:257
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303