147 lines
4.0 KiB
C++
147 lines
4.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btConeShape.h"
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btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
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m_radius (radius),
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m_height(height)
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{
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m_shapeType = CONE_SHAPE_PROXYTYPE;
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setConeUpIndex(1);
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btVector3 halfExtents;
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m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
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}
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btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
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btConeShape(radius,height)
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{
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setConeUpIndex(2);
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}
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btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
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btConeShape(radius,height)
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{
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setConeUpIndex(0);
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}
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///choose upAxis index
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void btConeShape::setConeUpIndex(int upIndex)
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{
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switch (upIndex)
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{
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case 0:
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m_coneIndices[0] = 1;
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m_coneIndices[1] = 0;
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m_coneIndices[2] = 2;
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break;
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case 1:
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m_coneIndices[0] = 0;
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m_coneIndices[1] = 1;
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m_coneIndices[2] = 2;
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break;
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case 2:
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m_coneIndices[0] = 0;
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m_coneIndices[1] = 2;
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m_coneIndices[2] = 1;
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break;
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default:
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btAssert(0);
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};
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m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
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m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
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m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
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}
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btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
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{
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btScalar halfHeight = m_height * btScalar(0.5);
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if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
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{
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btVector3 tmp;
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tmp[m_coneIndices[0]] = btScalar(0.);
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tmp[m_coneIndices[1]] = halfHeight;
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tmp[m_coneIndices[2]] = btScalar(0.);
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return tmp;
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}
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else {
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btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
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if (s > SIMD_EPSILON) {
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btScalar d = m_radius / s;
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btVector3 tmp;
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tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
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tmp[m_coneIndices[1]] = -halfHeight;
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tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
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return tmp;
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}
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else {
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btVector3 tmp;
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tmp[m_coneIndices[0]] = btScalar(0.);
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tmp[m_coneIndices[1]] = -halfHeight;
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tmp[m_coneIndices[2]] = btScalar(0.);
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return tmp;
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}
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}
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}
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btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
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{
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return coneLocalSupport(vec);
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}
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void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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const btVector3& vec = vectors[i];
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supportVerticesOut[i] = coneLocalSupport(vec);
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}
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}
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btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const
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{
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btVector3 supVertex = coneLocalSupport(vec);
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if ( getMargin()!=btScalar(0.) )
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{
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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}
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return supVertex;
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}
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void btConeShape::setLocalScaling(const btVector3& scaling)
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{
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int axis = m_coneIndices[1];
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int r1 = m_coneIndices[0];
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int r2 = m_coneIndices[2];
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m_height *= scaling[axis] / m_localScaling[axis];
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m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
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m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
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btConvexInternalShape::setLocalScaling(scaling);
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} |