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

Bullet Collision Detection & Physics Library

btCapsuleShape.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_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
25 ATTRIBUTE_ALIGNED16(class)
26 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 BT_DECLARE_ALIGNED_ALLOCATOR();
37
38 btCapsuleShape(btScalar radius, btScalar height);
39
41 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
42
44 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
45
46 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
47
48 virtual void setMargin(btScalar collisionMargin)
49 {
50 //don't override the margin for capsules, their entire radius == margin
51 (void)collisionMargin;
52 }
53
54 virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55 {
56 btVector3 halfExtents(getRadius(), getRadius(), getRadius());
57 halfExtents[m_upAxis] = getRadius() + getHalfHeight();
58 btMatrix3x3 abs_b = t.getBasis().absolute();
59 btVector3 center = t.getOrigin();
60 btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
61
62 aabbMin = center - extent;
63 aabbMax = center + extent;
64 }
65
66 virtual const char* getName() const
67 {
68 return "CapsuleShape";
69 }
70
71 int getUpAxis() const
72 {
73 return m_upAxis;
74 }
75
76 btScalar getRadius() const
77 {
78 int radiusAxis = (m_upAxis + 2) % 3;
79 return m_implicitShapeDimensions[radiusAxis];
80 }
81
82 btScalar getHalfHeight() const
83 {
84 return m_implicitShapeDimensions[m_upAxis];
85 }
86
87 virtual void setLocalScaling(const btVector3& scaling)
88 {
89 btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
90 btConvexInternalShape::setLocalScaling(scaling);
91 m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
92 //update m_collisionMargin, since entire radius==margin
93 int radiusAxis = (m_upAxis + 2) % 3;
94 m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
95 }
96
97 virtual btVector3 getAnisotropicRollingFrictionDirection() const
98 {
99 btVector3 aniDir(0, 0, 0);
100 aniDir[getUpAxis()] = 1;
101 return aniDir;
102 }
103
104 virtual int calculateSerializeBufferSize() const;
105
107 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
108
109 SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer);
110 };
111
114 class btCapsuleShapeX : public btCapsuleShape
115 {
116 public:
117 btCapsuleShapeX(btScalar radius, btScalar height);
118
119 //debugging
120 virtual const char* getName() const
121 {
122 return "CapsuleX";
123 }
124 };
125
128 class btCapsuleShapeZ : public btCapsuleShape
129 {
130 public:
131 btCapsuleShapeZ(btScalar radius, btScalar height);
132
133 //debugging
134 virtual const char* getName() const
135 {
136 return "CapsuleZ";
137 }
138 };
139
141 struct btCapsuleShapeData
142 {
143 btConvexInternalShapeData m_convexInternalShapeData;
144
145 int m_upAxis;
146
147 char m_padding[4];
148 };
149
150 SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
151 {
152 return sizeof(btCapsuleShapeData);
153 }
154
156 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
157 {
158 btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
159
160 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
161
162 shapeData->m_upAxis = m_upAxis;
163
164 // Fill padding with zeros to appease msan.
165 shapeData->m_padding[0] = 0;
166 shapeData->m_padding[1] = 0;
167 shapeData->m_padding[2] = 0;
168 shapeData->m_padding[3] = 0;
169
170 return "btCapsuleShapeData";
171 }
172
173 SIMD_FORCE_INLINE void btCapsuleShape::deSerializeFloat(btCapsuleShapeData* dataBuffer)
174 {
175 m_implicitShapeDimensions.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_implicitShapeDimensions);
176 m_collisionMargin = dataBuffer->m_convexInternalShapeData.m_collisionMargin;
177 m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
178 //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
179 m_upAxis = dataBuffer->m_upAxis;
180 }
181
182 #endif //BT_CAPSULE_SHAPE_H
btCapsuleShapeX::btCapsuleShapeX
btCapsuleShapeX(btScalar radius, btScalar height)
Definition: btCapsuleShape.cpp:136
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btCapsuleShape::getRadius
btScalar getRadius() const
Definition: btCapsuleShape.h:76
btCapsuleShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCapsuleShape.h:97
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:41
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:28
btCapsuleShape
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
Definition: btCapsuleShape.h:25
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:114
btCapsuleShapeZ::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:134
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:83
btCapsuleShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCapsuleShape.h:150
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
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:135
btCapsuleShape::getUpAxis
int getUpAxis() const
Definition: btCapsuleShape.h:71
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btSerializer
Definition: btSerializer.h:65
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:143
btCapsuleShapeX::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:120
btCapsuleShapeZ::btCapsuleShapeZ
btCapsuleShapeZ(btScalar radius, btScalar height)
Definition: btCapsuleShape.cpp:143
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:154
btCapsuleShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btCapsuleShape.h:141
btCapsuleShape::getHalfHeight
btScalar getHalfHeight() const
Definition: btCapsuleShape.h:82
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
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:108
btConvexInternalShape.h
btCapsuleShape::setMargin
virtual void setMargin(btScalar collisionMargin)
Definition: btCapsuleShape.h:48
btBroadphaseProxy.h
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:139
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:141
btCapsuleShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btCapsuleShape.h:143
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:84
btCapsuleShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btCapsuleShape.h:87
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1005
btCapsuleShape::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:66
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:54
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:405
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:128
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
btCapsuleShape::deSerializeFloat
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
Definition: btCapsuleShape.h:173
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
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:156
btVector3::deSerializeFloat
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1298
btCapsuleShapeData::m_upAxis
int m_upAxis
Definition: btCapsuleShape.h:145
btCapsuleShapeData::m_padding
char m_padding[4]
Definition: btCapsuleShape.h:147
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294