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

Bullet Collision Detection & Physics Library

btConeShape.h
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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_CONE_MINKOWSKI_H
17 #define BT_CONE_MINKOWSKI_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
23 ATTRIBUTE_ALIGNED16(class) btConeShape : public btConvexInternalShape
24
25 {
26
27 btScalar m_sinAngle;
28 btScalar m_radius;
29 btScalar m_height;
30 int m_coneIndices[3];
31 btVector3 coneLocalSupport(const btVector3& v) const;
32
33
34 public:
35 BT_DECLARE_ALIGNED_ALLOCATOR();
36
37 btConeShape (btScalar radius,btScalar height);
38
39 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
40 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
41 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
42
43 btScalar getRadius() const { return m_radius;}
44 btScalar getHeight() const { return m_height;}
45
46 void setRadius(const btScalar radius)
47 {
48 m_radius = radius;
49 }
50 void setHeight(const btScalar height)
51 {
52 m_height = height;
53 }
54
55
56 virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
57 {
58 btTransform identity;
59 identity.setIdentity();
60 btVector3 aabbMin,aabbMax;
61 getAabb(identity,aabbMin,aabbMax);
62
63 btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
64
65 btScalar margin = getMargin();
66
67 btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
68 btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
69 btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
70 const btScalar x2 = lx*lx;
71 const btScalar y2 = ly*ly;
72 const btScalar z2 = lz*lz;
73 const btScalar scaledmass = mass * btScalar(0.08333333);
74
75 inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
76
77 // inertia.x() = scaledmass * (y2+z2);
78 // inertia.y() = scaledmass * (x2+z2);
79 // inertia.z() = scaledmass * (x2+y2);
80 }
81
82
83 virtual const char* getName()const
84 {
85 return "Cone";
86 }
87
89 void setConeUpIndex(int upIndex);
90
91 int getConeUpIndex() const
92 {
93 return m_coneIndices[1];
94 }
95
96 virtual btVector3 getAnisotropicRollingFrictionDirection() const
97 {
98 return btVector3 (0,1,0);
99 }
100
101 virtual void setLocalScaling(const btVector3& scaling);
102
103
104 virtual int calculateSerializeBufferSize() const;
105
107 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
108
109
110 };
111
113 class btConeShapeX : public btConeShape
114 {
115 public:
116 btConeShapeX(btScalar radius,btScalar height);
117
118 virtual btVector3 getAnisotropicRollingFrictionDirection() const
119 {
120 return btVector3 (1,0,0);
121 }
122
123 //debugging
124 virtual const char* getName()const
125 {
126 return "ConeX";
127 }
128
129
130 };
131
133 class btConeShapeZ : public btConeShape
134 {
135 public:
136 btConeShapeZ(btScalar radius,btScalar height);
137
138 virtual btVector3 getAnisotropicRollingFrictionDirection() const
139 {
140 return btVector3 (0,0,1);
141 }
142
143 //debugging
144 virtual const char* getName()const
145 {
146 return "ConeZ";
147 }
148
149
150 };
151
153 struct btConeShapeData
154 {
155 btConvexInternalShapeData m_convexInternalShapeData;
156
157 int m_upIndex;
158
159 char m_padding[4];
160 };
161
162 SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
163 {
164 return sizeof(btConeShapeData);
165 }
166
168 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
169 {
170 btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
171
172 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
173
174 shapeData->m_upIndex = m_coneIndices[1];
175
176 // Fill padding with zeros to appease msan.
177 shapeData->m_padding[0] = 0;
178 shapeData->m_padding[1] = 0;
179 shapeData->m_padding[2] = 0;
180 shapeData->m_padding[3] = 0;
181
182 return "btConeShapeData";
183 }
184
185 #endif //BT_CONE_MINKOWSKI_H
186
btConeShapeData::m_padding
char m_padding[4]
Definition: btConeShape.h:159
btConeShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConeShape.h:162
btConeShapeX::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:118
btConeShape::setHeight
void setHeight(const btScalar height)
Definition: btConeShape.h:50
btConeShape::getName
virtual const char * getName() const
Definition: btConeShape.h:83
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:29
btConeShape::m_coneIndices
int m_coneIndices[3]
Definition: btConeShape.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
btConeShapeX
btConeShape implements a Cone shape, around the X axis
Definition: btConeShape.h:113
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConvexInternalShape.h:144
btConeShape::m_height
btScalar m_height
Definition: btConeShape.h:29
btSerializer
Definition: btSerializer.h:68
btConeShape::m_radius
btScalar m_radius
Definition: btConeShape.h:28
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
btConeShape::getConeUpIndex
int getConeUpIndex() const
Definition: btConeShape.h:91
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
btConeShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConeShape.h:153
btConeShape
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:23
btConeShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:56
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591
btConvexInternalShape.h
btBroadphaseProxy.h
btConeShape::getRadius
btScalar getRadius() const
Definition: btConeShape.h:43
btConeShape::getHeight
btScalar getHeight() const
Definition: btConeShape.h:44
btConeShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConeShape.h:168
btConeShapeX::btConeShapeX
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:36
btConeShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConeShape.h:155
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btConeShapeZ::getName
virtual const char * getName() const
Definition: btConeShape.h:144
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConeShapeZ
btConeShapeZ implements a Cone shape, around the Z axis
Definition: btConeShape.h:133
btConeShapeData::m_upIndex
int m_upIndex
Definition: btConeShape.h:157
btConeShape::setRadius
void setRadius(const btScalar radius)
Definition: btConeShape.h:46
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btConeShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:96
btConeShapeZ::btConeShapeZ
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:30
btConeShapeX::getName
virtual const char * getName() const
Definition: btConeShape.h:124
btConeShape::m_sinAngle
btScalar m_sinAngle
Definition: btConeShape.h:27
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btConeShapeZ::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:138