Bullet Collision Detection & Physics Library
btCapsuleShape.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_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
18 
19 #include "btConvexInternalShape.h"
21 
27 {
28 protected:
29  int m_upAxis;
30 
31 protected:
34 
35 public:
37 
38  btCapsuleShape(btScalar radius, btScalar height);
39 
41  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
42 
44  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
45 
46  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
47 
48  virtual void setMargin(btScalar collisionMargin)
49  {
50  //don't override the margin for capsules, their entire radius == margin
51  (void)collisionMargin;
52  }
53 
54  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55  {
56  btVector3 halfExtents(getRadius(), getRadius(), getRadius());
57  halfExtents[m_upAxis] = getRadius() + getHalfHeight();
58  btMatrix3x3 abs_b = t.getBasis().absolute();
59  btVector3 center = t.getOrigin();
60  btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
61 
62  aabbMin = center - extent;
63  aabbMax = center + extent;
64  }
65 
66  virtual const char* getName() const
67  {
68  return "CapsuleShape";
69  }
70 
71  int getUpAxis() const
72  {
73  return m_upAxis;
74  }
75 
77  {
78  int radiusAxis = (m_upAxis + 2) % 3;
79  return m_implicitShapeDimensions[radiusAxis];
80  }
81 
83  {
84  return m_implicitShapeDimensions[m_upAxis];
85  }
86 
87  virtual void setLocalScaling(const btVector3& scaling)
88  {
89  btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
91  m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
92  //update m_collisionMargin, since entire radius==margin
93  int radiusAxis = (m_upAxis + 2) % 3;
94  m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
95  }
96 
98  {
99  btVector3 aniDir(0, 0, 0);
100  aniDir[getUpAxis()] = 1;
101  return aniDir;
102  }
103 
104  virtual int calculateSerializeBufferSize() const;
105 
107  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
108 
109  SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData * dataBuffer);
110 };
111 
115 {
116 public:
117  btCapsuleShapeX(btScalar radius, btScalar height);
118 
119  //debugging
120  virtual const char* getName() const
121  {
122  return "CapsuleX";
123  }
124 };
125 
129 {
130 public:
131  btCapsuleShapeZ(btScalar radius, btScalar height);
132 
133  //debugging
134  virtual const char* getName() const
135  {
136  return "CapsuleZ";
137  }
138 };
139 
142 {
144 
145  int m_upAxis;
146 
147  char m_padding[4];
148 };
149 
151 {
152  return sizeof(btCapsuleShapeData);
153 }
154 
156 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
157 {
158  btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
159 
161 
162  shapeData->m_upAxis = m_upAxis;
163 
164  // Fill padding with zeros to appease msan.
165  shapeData->m_padding[0] = 0;
166  shapeData->m_padding[1] = 0;
167  shapeData->m_padding[2] = 0;
168  shapeData->m_padding[3] = 0;
169 
170  return "btCapsuleShapeData";
171 }
172 
174 {
178  //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
179  m_upAxis = dataBuffer->m_upAxis;
180 }
181 
182 #endif //BT_CAPSULE_SHAPE_H
btCapsuleShapeX::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:120
btConvexInternalShape.h
btConvexInternalShape::m_collisionMargin
btScalar m_collisionMargin
Definition: btConvexInternalShape.h:37
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
Definition: btConvexInternalShape.h:28
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCapsuleShape::btCapsuleShape
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
Definition: btCapsuleShape.h:33
btCapsuleShapeX::btCapsuleShapeX
btCapsuleShapeX(btScalar radius, btScalar height)
Definition: btCapsuleShape.cpp:136
btCapsuleShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition: btCapsuleShape.h:150
btCapsuleShape::getUpAxis
int getUpAxis() const
Definition: btCapsuleShape.h:71
btCapsuleShape::getHalfHeight
btScalar getHalfHeight() const
Definition: btCapsuleShape.h:82
btCapsuleShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCapsuleShape.h:141
btConvexInternalShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: btConvexInternalShape.h:139
btCapsuleShapeX
btCapsuleShapeX represents a capsule around the Z axis the total height is height+2*radius,...
Definition: btCapsuleShape.h:114
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
CAPSULE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:41
btCapsuleShape::setMargin
virtual void setMargin(btScalar collisionMargin)
Definition: btCapsuleShape.h:48
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btCapsuleShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btCapsuleShape.h:87
btCapsuleShape::m_upAxis
int m_upAxis
Definition: btCapsuleShape.h:29
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:425
btCapsuleShape
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
Definition: btCapsuleShape.h:25
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btCapsuleShape::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:66
btCapsuleShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btCapsuleShape.h:156
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btCapsuleShape::getAabb
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...
Definition: btCapsuleShape.h:54
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConvexInternalShape.h:135
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
btConvexInternalShapeData::m_collisionMargin
float m_collisionMargin
Definition: btConvexInternalShape.h:143
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btBroadphaseProxy.h
btSerializer
Definition: btSerializer.h:65
btCapsuleShapeZ::btCapsuleShapeZ
btCapsuleShapeZ(btScalar radius, btScalar height)
Definition: btCapsuleShape.cpp:143
btCapsuleShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: btCapsuleShape.h:143
btCapsuleShape::deSerializeFloat
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
Definition: btCapsuleShape.h:173
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1012
btVector3::deSerializeFloat
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1298
btCapsuleShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btCapsuleShape.h:97
btCapsuleShapeZ::getName
virtual const char * getName() const
Definition: btCapsuleShape.h:134
btCapsuleShapeData::m_upAxis
int m_upAxis
Definition: btCapsuleShape.h:145
btCapsuleShapeData::m_padding
char m_padding[4]
Definition: btCapsuleShape.h:147
btCapsuleShapeZ
btCapsuleShapeZ represents a capsule around the Z axis the total height is height+2*radius,...
Definition: btCapsuleShape.h:128
btConvexInternalShapeData::m_implicitShapeDimensions
btVector3FloatData m_implicitShapeDimensions
Definition: btConvexInternalShape.h:141
btCapsuleShape::getRadius
btScalar getRadius() const
Definition: btCapsuleShape.h:76
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