Bullet Collision Detection & Physics Library: btCapsuleShape.h Source File

Bullet Collision Detection & Physics Library

btCapsuleShape.h
Go to the documentation of this file.
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_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22
26 ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
27 {
28 protected:
29 int m_upAxis;
30
31 protected:
33 btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
34
35 public:
36
37 BT_DECLARE_ALIGNED_ALLOCATOR();
38
39 btCapsuleShape(btScalar radius,btScalar height);
40
42 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
43
45 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
46
47 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
48
49 virtual void setMargin(btScalar collisionMargin)
50 {
51 //correct the m_implicitShapeDimensions for the margin
52 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
53 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
54
55 btConvexInternalShape::setMargin(collisionMargin);
56 btVector3 newMargin(getMargin(),getMargin(),getMargin());
57 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
58
59 }
60
61 virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
62 {
63 btVector3 halfExtents(getRadius(),getRadius(),getRadius());
64 halfExtents[m_upAxis] = getRadius() + getHalfHeight();
65 halfExtents += btVector3(getMargin(),getMargin(),getMargin());
66 btMatrix3x3 abs_b = t.getBasis().absolute();
67 btVector3 center = t.getOrigin();
68 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
69
70 aabbMin = center - extent;
71 aabbMax = center + extent;
72 }
73
74 virtual const char* getName()const
75 {
76 return "CapsuleShape";
77 }
78
79 int getUpAxis() const
80 {
81 return m_upAxis;
82 }
83
84 btScalar getRadius() const
85 {
86 int radiusAxis = (m_upAxis+2)%3;
87 return m_implicitShapeDimensions[radiusAxis];
88 }
89
90 btScalar getHalfHeight() const
91 {
92 return m_implicitShapeDimensions[m_upAxis];
93 }
94
95 virtual void setLocalScaling(const btVector3& scaling)
96 {
97 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
98 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
99 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
100
101 btConvexInternalShape::setLocalScaling(scaling);
102
103 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
104
105 }
106
107 virtual btVector3 getAnisotropicRollingFrictionDirection() const
108 {
109 btVector3 aniDir(0,0,0);
110 aniDir[getUpAxis()]=1;
111 return aniDir;
112 }
113
114
115 virtual int calculateSerializeBufferSize() const;
116
118 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
119
120 SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
121
122 };
123
126 class btCapsuleShapeX : public btCapsuleShape
127 {
128 public:
129
130 btCapsuleShapeX(btScalar radius,btScalar height);
131
132 //debugging
133 virtual const char* getName()const
134 {
135 return "CapsuleX";
136 }
137
138
139
140 };
141
144 class btCapsuleShapeZ : public btCapsuleShape
145 {
146 public:
147 btCapsuleShapeZ(btScalar radius,btScalar height);
148
149 //debugging
150 virtual const char* getName()const
151 {
152 return "CapsuleZ";
153 }
154
155
156 };
157
159 struct btCapsuleShapeData
160 {
161 btConvexInternalShapeData m_convexInternalShapeData;
162
163 int m_upAxis;
164
165 char m_padding[4];
166 };
167
168 SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
169 {
170 return sizeof(btCapsuleShapeData);
171 }
172
174 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
175 {
176 btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
177
178 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
179
180 shapeData->m_upAxis = m_upAxis;
181
182 return "btCapsuleShapeData";
183 }
184
185 SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
186 {
187 m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
188 m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
189 m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
190 //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
191 m_upAxis = dataBuffer->m_upAxis;
192 }
193
194 #endif //BT_CAPSULE_SHAPE_H
btCapsuleShapeX::btCapsuleShapeX
btCapsuleShapeX(btScalar radius, btScalar height)
Definition: btCapsuleShape.cpp:152
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:39
btCapsuleShape::getRadius
btScalar getRadius() const
Definition: btCapsuleShape.h:84
btCapsuleShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCapsuleShape.h:107
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:729
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:29
btCapsuleShape
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
Definition: btCapsuleShape.h:26
btCapsuleShapeX
btCapsuleShapeX represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each &#39;sphere&#39; of the capsule caps.
Definition: btCapsuleShape.h:126
btConvexInternalShape::m_padding
btScalar m_padding
Definition: btConvexInternalShape.h:41
btCapsuleShapeZ::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:150
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:64
btCapsuleShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCapsuleShape.h:168
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:35
btCapsuleShape::m_upAxis
int m_upAxis
Definition: btCapsuleShape.h:29
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btCapsuleShape::getUpAxis
int getUpAxis() const
Definition: btCapsuleShape.h:79
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:37
btSerializer
Definition: btSerializer.h:68
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:152
btCapsuleShapeX::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:133
btConvexInternalShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConvexInternalShape.h:166
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:109
btCapsuleShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCapsuleShape.h:159
btCapsuleShape::getHalfHeight
btScalar getHalfHeight() const
Definition: btCapsuleShape.h:90
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btCapsuleShape::btCapsuleShape
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
Definition: btCapsuleShape.h:33
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
btConvexInternalShape.h
btCapsuleShape::setMargin
virtual void setMargin(btScalar collisionMargin)
Definition: btCapsuleShape.h:49
btBroadphaseProxy.h
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:148
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:150
btCapsuleShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btCapsuleShape.h:161
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:65
btCapsuleShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btCapsuleShape.h:95
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:980
btCapsuleShape::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:74
btCapsuleShape::getAabb
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb&#39;s default implementation is brute force, expected derived classes to implement a fast dedicat...
Definition: btCapsuleShape.h:61
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:389
btCapsuleShapeZ
btCapsuleShapeZ represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each &#39;sphere&#39; of the capsule caps.
Definition: btCapsuleShape.h:144
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:28
btCapsuleShape::deSerializeFloat
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
Definition: btCapsuleShape.h:185
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
btCapsuleShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCapsuleShape.h:174
btVector3::deSerializeFloat
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1329
btCapsuleShapeData::m_upAxis
int m_upAxis
Definition: btCapsuleShape.h:163
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:279