51 #ifndef USE_BOX_INERTIA_APPROXIMATION
68 int idxRadius, idxHeight;
86 radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
87 height2 =
btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
90 btScalar t1 = div12 * height2 + div4 * radius2;
96 inertia.setValue(t2, t1, t1);
99 inertia.setValue(t1, t1, t2);
102 inertia.setValue(t1, t2, t1);
112 inertia.setValue(mass / (
btScalar(12.0)) * (ly * ly + lz * lz),
113 mass / (
btScalar(12.0)) * (lx * lx + lz * lz),
114 mass / (
btScalar(12.0)) * (lx * lx + ly * ly));
120 const int cylinderUpAxis = 0;
129 btScalar halfHeight = halfExtents[cylinderUpAxis];
139 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
146 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
154 const int cylinderUpAxis = 1;
160 btScalar halfHeight = halfExtents[cylinderUpAxis];
170 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
177 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
185 const int cylinderUpAxis = 2;
194 btScalar halfHeight = halfExtents[cylinderUpAxis];
204 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
211 tmp[YY] =
v[YY] < 0.0 ? -halfHeight : halfHeight;
233 for (
int i = 0; i < numVectors; i++)
241 for (
int i = 0; i < numVectors; i++)
249 for (
int i = 0; i < numVectors; i++)
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
ATTR_WARN_UNUSED_RESULT const BMVert * v
SIMD_FORCE_INLINE void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
const btVector3 & getHalfExtentsWithoutMargin() const
btVector3 getHalfExtentsWithMargin() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
@ CYLINDER_SHAPE_PROXYTYPE
virtual btScalar getMargin() const =0
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
btVector3 m_implicitShapeDimensions
btVector3 CylinderLocalSupportZ(const btVector3 &halfExtents, const btVector3 &v)
btVector3 CylinderLocalSupportY(const btVector3 &halfExtents, const btVector3 &v)
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3 &halfExtents, const btVector3 &v)
btCylinderShape(const btVector3 &halfExtents)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
SIMD_FORCE_INLINE btScalar btSqrt(btScalar y)
#define SIMD_FORCE_INLINE
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
btCylinderShapeX(const btVector3 &halfExtents)
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btCylinderShapeZ(const btVector3 &halfExtents)