Blender  V3.3
btCylinderShape.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_CYLINDER_MINKOWSKI_H
17 #define BT_CYLINDER_MINKOWSKI_H
18 
19 #include "btBoxShape.h"
21 #include "LinearMath/btVector3.h"
22 
26 
27 {
28 protected:
29  int m_upAxis;
30 
31 public:
33 
35  {
36  btVector3 halfExtents = getHalfExtentsWithoutMargin();
37  btVector3 margin(getMargin(), getMargin(), getMargin());
38  halfExtents += margin;
39  return halfExtents;
40  }
41 
43  {
44  return m_implicitShapeDimensions; //changed in Bullet 2.63: assume the scaling and margin are included
45  }
46 
47  btCylinderShape(const btVector3& halfExtents);
48 
49  void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
50 
51  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
52 
54 
55  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
56 
57  virtual void setMargin(btScalar collisionMargin)
58  {
59  //correct the m_implicitShapeDimensions for the margin
60  btVector3 oldMargin(getMargin(), getMargin(), getMargin());
61  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
62 
63  btConvexInternalShape::setMargin(collisionMargin);
64  btVector3 newMargin(getMargin(), getMargin(), getMargin());
65  m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
66  }
67 
68  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
69  {
70  btVector3 supVertex;
72 
73  if (getMargin() != btScalar(0.))
74  {
75  btVector3 vecnorm = vec;
76  if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
77  {
78  vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
79  }
80  vecnorm.normalize();
81  supVertex += getMargin() * vecnorm;
82  }
83  return supVertex;
84  }
85 
86  //use box inertia
87  // virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
88 
89  int getUpAxis() const
90  {
91  return m_upAxis;
92  }
93 
95  {
96  btVector3 aniDir(0, 0, 0);
97  aniDir[getUpAxis()] = 1;
98  return aniDir;
99  }
100 
101  virtual btScalar getRadius() const
102  {
103  return getHalfExtentsWithMargin().getX();
104  }
105 
106  virtual void setLocalScaling(const btVector3& scaling)
107  {
108  btVector3 oldMargin(getMargin(), getMargin(), getMargin());
109  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
110  btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
111 
113 
114  m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
115  }
116 
117  //debugging
118  virtual const char* getName() const
119  {
120  return "CylinderY";
121  }
122 
123  virtual int calculateSerializeBufferSize() const;
124 
126  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
127 };
128 
130 {
131 public:
133 
134  btCylinderShapeX(const btVector3& halfExtents);
135 
137  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
138 
139  //debugging
140  virtual const char* getName() const
141  {
142  return "CylinderX";
143  }
144 
145  virtual btScalar getRadius() const
146  {
147  return getHalfExtentsWithMargin().getY();
148  }
149 };
150 
152 {
153 public:
155 
156  btCylinderShapeZ(const btVector3& halfExtents);
157 
159  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
160 
161  //debugging
162  virtual const char* getName() const
163  {
164  return "CylinderZ";
165  }
166 
167  virtual btScalar getRadius() const
168  {
169  return getHalfExtentsWithMargin().getX();
170  }
171 };
172 
175 {
177 
178  int m_upAxis;
179 
180  char m_padding[4];
181 };
182 
184 {
185  return sizeof(btCylinderShapeData);
186 }
187 
189 SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
190 {
191  btCylinderShapeData* shapeData = (btCylinderShapeData*)dataBuffer;
192 
194 
195  shapeData->m_upAxis = m_upAxis;
196 
197  // Fill padding with zeros to appease msan.
198  shapeData->m_padding[0] = 0;
199  shapeData->m_padding[1] = 0;
200  shapeData->m_padding[2] = 0;
201  shapeData->m_padding[3] = 0;
202 
203  return "btCylinderShapeData";
204 }
205 
206 #endif //BT_CYLINDER_MINKOWSKI_H
_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
virtual btScalar getMargin() const =0
btVector3 m_localScaling
btConvexInternalShape()
btVector3 m_implicitShapeDimensions
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual btScalar getRadius() const
virtual const char * getName() const
virtual int calculateSerializeBufferSize() const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
const btVector3 & getHalfExtentsWithoutMargin() const
btCylinderShape(const btVector3 &halfExtents)
void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btVector3 getHalfExtentsWithMargin() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
int getUpAxis() const
virtual void setMargin(btScalar collisionMargin)
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
#define SIMD_EPSILON
Definition: btScalar.h:543
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
btCylinderShapeX(const btVector3 &halfExtents)
virtual btScalar getRadius() const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
virtual const char * getName() const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btScalar getRadius() const
virtual const char * getName() const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btCylinderShapeZ(const btVector3 &halfExtents)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData