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)
24 btConeShape : public btConvexInternalShape
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 public:
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36 btConeShape(btScalar radius, btScalar height);
37
38 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
39 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
40 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
41
42 btScalar getRadius() const { return m_radius; }
43 btScalar getHeight() const { return m_height; }
44
45 void setRadius(const btScalar radius)
46 {
47 m_radius = radius;
48 }
49 void setHeight(const btScalar height)
50 {
51 m_height = height;
52 }
53
54 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
55 {
56 btTransform identity;
57 identity.setIdentity();
58 btVector3 aabbMin, aabbMax;
59 getAabb(identity, aabbMin, aabbMax);
60
61 btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
62
63 btScalar margin = getMargin();
64
65 btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
66 btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
67 btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
68 const btScalar x2 = lx * lx;
69 const btScalar y2 = ly * ly;
70 const btScalar z2 = lz * lz;
71 const btScalar scaledmass = mass * btScalar(0.08333333);
72
73 inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
74
75 // inertia.x() = scaledmass * (y2+z2);
76 // inertia.y() = scaledmass * (x2+z2);
77 // inertia.z() = scaledmass * (x2+y2);
78 }
79
80 virtual const char* getName() const
81 {
82 return "Cone";
83 }
84
86 void setConeUpIndex(int upIndex);
87
88 int getConeUpIndex() const
89 {
90 return m_coneIndices[1];
91 }
92
93 virtual btVector3 getAnisotropicRollingFrictionDirection() const
94 {
95 return btVector3(0, 1, 0);
96 }
97
98 virtual void setLocalScaling(const btVector3& scaling);
99
100 virtual int calculateSerializeBufferSize() const;
101
103 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
104 };
105
107 class btConeShapeX : public btConeShape
108 {
109 public:
110 btConeShapeX(btScalar radius, btScalar height);
111
112 virtual btVector3 getAnisotropicRollingFrictionDirection() const
113 {
114 return btVector3(1, 0, 0);
115 }
116
117 //debugging
118 virtual const char* getName() const
119 {
120 return "ConeX";
121 }
122 };
123
125 class btConeShapeZ : public btConeShape
126 {
127 public:
128 btConeShapeZ(btScalar radius, btScalar height);
129
130 virtual btVector3 getAnisotropicRollingFrictionDirection() const
131 {
132 return btVector3(0, 0, 1);
133 }
134
135 //debugging
136 virtual const char* getName() const
137 {
138 return "ConeZ";
139 }
140 };
141
143 struct btConeShapeData
144 {
145 btConvexInternalShapeData m_convexInternalShapeData;
146
147 int m_upIndex;
148
149 char m_padding[4];
150 };
151
152 SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
153 {
154 return sizeof(btConeShapeData);
155 }
156
158 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
159 {
160 btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
161
162 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
163
164 shapeData->m_upIndex = m_coneIndices[1];
165
166 // Fill padding with zeros to appease msan.
167 shapeData->m_padding[0] = 0;
168 shapeData->m_padding[1] = 0;
169 shapeData->m_padding[2] = 0;
170 shapeData->m_padding[3] = 0;
171
172 return "btConeShapeData";
173 }
174
175 #endif //BT_CONE_MINKOWSKI_H
btBroadphaseProxy.h
btConvexInternalShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btConeShapeX
btConeShape implements a Cone shape, around the X axis
Definition: btConeShape.h:108
btConeShapeX::btConeShapeX
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:33
btConeShapeX::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:112
btConeShapeX::getName
virtual const char * getName() const
Definition: btConeShape.h:118
btConeShapeZ
btConeShapeZ implements a Cone shape, around the Z axis
Definition: btConeShape.h:126
btConeShapeZ::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:130
btConeShapeZ::getName
virtual const char * getName() const
Definition: btConeShape.h:136
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::getRadius
btScalar getRadius() const
Definition: btConeShape.h:42
btConeShape::setRadius
void setRadius(const btScalar radius)
Definition: btConeShape.h:45
btConeShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:93
btConeShape::m_height
btScalar m_height
Definition: btConeShape.h:29
btConeShape::m_radius
btScalar m_radius
Definition: btConeShape.h:28
btConeShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConeShape::m_sinAngle
btScalar m_sinAngle
Definition: btConeShape.h:27
btConeShape::setHeight
void setHeight(const btScalar height)
Definition: btConeShape.h:49
btConeShape::getConeUpIndex
int getConeUpIndex() const
Definition: btConeShape.h:88
btConeShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btConeShape.h:152
btConeShape::m_coneIndices
int m_coneIndices[3]
Definition: btConeShape.h:30
btConeShape::getName
virtual const char * getName() const
Definition: btConeShape.h:80
btConeShape::getHeight
btScalar getHeight() const
Definition: btConeShape.h:43
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:158
btConeShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:54
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:30
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
btSerializer
Definition: btSerializer.h:66
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
btConeShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConeShape.h:144
btConeShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConeShape.h:145
btConeShapeData::m_upIndex
int m_upIndex
Definition: btConeShape.h:147
btConeShapeData::m_padding
char m_padding[4]
Definition: btConeShape.h:149
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:136