forked from LeenkxTeam/LNXSDK
283 lines
7.4 KiB
C++
283 lines
7.4 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#include "btCylinderShape.h"
|
|
|
|
btCylinderShape::btCylinderShape (const btVector3& halfExtents)
|
|
:btConvexInternalShape(),
|
|
m_upAxis(1)
|
|
{
|
|
btVector3 margin(getMargin(),getMargin(),getMargin());
|
|
m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
|
|
|
|
setSafeMargin(halfExtents);
|
|
|
|
m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
|
|
}
|
|
|
|
|
|
btCylinderShapeX::btCylinderShapeX (const btVector3& halfExtents)
|
|
:btCylinderShape(halfExtents)
|
|
{
|
|
m_upAxis = 0;
|
|
|
|
}
|
|
|
|
|
|
btCylinderShapeZ::btCylinderShapeZ (const btVector3& halfExtents)
|
|
:btCylinderShape(halfExtents)
|
|
{
|
|
m_upAxis = 2;
|
|
|
|
}
|
|
|
|
void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
|
|
{
|
|
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
|
|
}
|
|
|
|
void btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
|
|
{
|
|
|
|
//Until Bullet 2.77 a box approximation was used, so uncomment this if you need backwards compatibility
|
|
//#define USE_BOX_INERTIA_APPROXIMATION 1
|
|
#ifndef USE_BOX_INERTIA_APPROXIMATION
|
|
|
|
/*
|
|
cylinder is defined as following:
|
|
*
|
|
* - principle axis aligned along y by default, radius in x, z-value not used
|
|
* - for btCylinderShapeX: principle axis aligned along x, radius in y direction, z-value not used
|
|
* - for btCylinderShapeZ: principle axis aligned along z, radius in x direction, y-value not used
|
|
*
|
|
*/
|
|
|
|
btScalar radius2; // square of cylinder radius
|
|
btScalar height2; // square of cylinder height
|
|
btVector3 halfExtents = getHalfExtentsWithMargin(); // get cylinder dimension
|
|
btScalar div12 = mass / 12.f;
|
|
btScalar div4 = mass / 4.f;
|
|
btScalar div2 = mass / 2.f;
|
|
int idxRadius, idxHeight;
|
|
|
|
switch (m_upAxis) // get indices of radius and height of cylinder
|
|
{
|
|
case 0: // cylinder is aligned along x
|
|
idxRadius = 1;
|
|
idxHeight = 0;
|
|
break;
|
|
case 2: // cylinder is aligned along z
|
|
idxRadius = 0;
|
|
idxHeight = 2;
|
|
break;
|
|
default: // cylinder is aligned along y
|
|
idxRadius = 0;
|
|
idxHeight = 1;
|
|
}
|
|
|
|
// calculate squares
|
|
radius2 = halfExtents[idxRadius] * halfExtents[idxRadius];
|
|
height2 = btScalar(4.) * halfExtents[idxHeight] * halfExtents[idxHeight];
|
|
|
|
// calculate tensor terms
|
|
btScalar t1 = div12 * height2 + div4 * radius2;
|
|
btScalar t2 = div2 * radius2;
|
|
|
|
switch (m_upAxis) // set diagonal elements of inertia tensor
|
|
{
|
|
case 0: // cylinder is aligned along x
|
|
inertia.setValue(t2,t1,t1);
|
|
break;
|
|
case 2: // cylinder is aligned along z
|
|
inertia.setValue(t1,t1,t2);
|
|
break;
|
|
default: // cylinder is aligned along y
|
|
inertia.setValue(t1,t2,t1);
|
|
}
|
|
#else //USE_BOX_INERTIA_APPROXIMATION
|
|
//approximation of box shape
|
|
btVector3 halfExtents = getHalfExtentsWithMargin();
|
|
|
|
btScalar lx=btScalar(2.)*(halfExtents.x());
|
|
btScalar ly=btScalar(2.)*(halfExtents.y());
|
|
btScalar lz=btScalar(2.)*(halfExtents.z());
|
|
|
|
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
|
|
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
|
|
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
|
|
#endif //USE_BOX_INERTIA_APPROXIMATION
|
|
}
|
|
|
|
|
|
SIMD_FORCE_INLINE btVector3 CylinderLocalSupportX(const btVector3& halfExtents,const btVector3& v)
|
|
{
|
|
const int cylinderUpAxis = 0;
|
|
const int XX = 1;
|
|
const int YY = 0;
|
|
const int ZZ = 2;
|
|
|
|
//mapping depends on how cylinder local orientation is
|
|
// extents of the cylinder is: X,Y is for radius, and Z for height
|
|
|
|
|
|
btScalar radius = halfExtents[XX];
|
|
btScalar halfHeight = halfExtents[cylinderUpAxis];
|
|
|
|
|
|
btVector3 tmp;
|
|
btScalar d ;
|
|
|
|
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
|
if (s != btScalar(0.0))
|
|
{
|
|
d = radius / s;
|
|
tmp[XX] = v[XX] * d;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = v[ZZ] * d;
|
|
return tmp;
|
|
}
|
|
else
|
|
{
|
|
tmp[XX] = radius;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = btScalar(0.0);
|
|
return tmp;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
inline btVector3 CylinderLocalSupportY(const btVector3& halfExtents,const btVector3& v)
|
|
{
|
|
|
|
const int cylinderUpAxis = 1;
|
|
const int XX = 0;
|
|
const int YY = 1;
|
|
const int ZZ = 2;
|
|
|
|
|
|
btScalar radius = halfExtents[XX];
|
|
btScalar halfHeight = halfExtents[cylinderUpAxis];
|
|
|
|
|
|
btVector3 tmp;
|
|
btScalar d ;
|
|
|
|
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
|
if (s != btScalar(0.0))
|
|
{
|
|
d = radius / s;
|
|
tmp[XX] = v[XX] * d;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = v[ZZ] * d;
|
|
return tmp;
|
|
}
|
|
else
|
|
{
|
|
tmp[XX] = radius;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = btScalar(0.0);
|
|
return tmp;
|
|
}
|
|
|
|
}
|
|
|
|
inline btVector3 CylinderLocalSupportZ(const btVector3& halfExtents,const btVector3& v)
|
|
{
|
|
const int cylinderUpAxis = 2;
|
|
const int XX = 0;
|
|
const int YY = 2;
|
|
const int ZZ = 1;
|
|
|
|
//mapping depends on how cylinder local orientation is
|
|
// extents of the cylinder is: X,Y is for radius, and Z for height
|
|
|
|
|
|
btScalar radius = halfExtents[XX];
|
|
btScalar halfHeight = halfExtents[cylinderUpAxis];
|
|
|
|
|
|
btVector3 tmp;
|
|
btScalar d ;
|
|
|
|
btScalar s = btSqrt(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
|
|
if (s != btScalar(0.0))
|
|
{
|
|
d = radius / s;
|
|
tmp[XX] = v[XX] * d;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = v[ZZ] * d;
|
|
return tmp;
|
|
}
|
|
else
|
|
{
|
|
tmp[XX] = radius;
|
|
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
|
|
tmp[ZZ] = btScalar(0.0);
|
|
return tmp;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
btVector3 btCylinderShapeX::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
|
{
|
|
return CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vec);
|
|
}
|
|
|
|
|
|
btVector3 btCylinderShapeZ::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
|
{
|
|
return CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vec);
|
|
}
|
|
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
|
|
{
|
|
return CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vec);
|
|
}
|
|
|
|
void btCylinderShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
for (int i=0;i<numVectors;i++)
|
|
{
|
|
supportVerticesOut[i] = CylinderLocalSupportY(getHalfExtentsWithoutMargin(),vectors[i]);
|
|
}
|
|
}
|
|
|
|
void btCylinderShapeZ::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
for (int i=0;i<numVectors;i++)
|
|
{
|
|
supportVerticesOut[i] = CylinderLocalSupportZ(getHalfExtentsWithoutMargin(),vectors[i]);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
|
|
{
|
|
for (int i=0;i<numVectors;i++)
|
|
{
|
|
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtentsWithoutMargin(),vectors[i]);
|
|
}
|
|
}
|
|
|
|
|