Bullet Collision Detection & Physics Library
btConeShape.cpp
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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 #include "btConeShape.h"
17 
19  m_radius(radius),
20  m_height(height)
21 {
23  setConeUpIndex(1);
24  btVector3 halfExtents;
26 }
27 
28 btConeShapeZ::btConeShapeZ(btScalar radius, btScalar height) : btConeShape(radius, height)
29 {
30  setConeUpIndex(2);
31 }
32 
33 btConeShapeX::btConeShapeX(btScalar radius, btScalar height) : btConeShape(radius, height)
34 {
35  setConeUpIndex(0);
36 }
37 
39 void btConeShape::setConeUpIndex(int upIndex)
40 {
41  switch (upIndex)
42  {
43  case 0:
44  m_coneIndices[0] = 1;
45  m_coneIndices[1] = 0;
46  m_coneIndices[2] = 2;
47  break;
48  case 1:
49  m_coneIndices[0] = 0;
50  m_coneIndices[1] = 1;
51  m_coneIndices[2] = 2;
52  break;
53  case 2:
54  m_coneIndices[0] = 0;
55  m_coneIndices[1] = 2;
56  m_coneIndices[2] = 1;
57  break;
58  default:
59  btAssert(0);
60  };
61 
65 }
66 
68 {
69  btScalar halfHeight = m_height * btScalar(0.5);
70 
71  if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
72  {
73  btVector3 tmp;
74 
75  tmp[m_coneIndices[0]] = btScalar(0.);
76  tmp[m_coneIndices[1]] = halfHeight;
77  tmp[m_coneIndices[2]] = btScalar(0.);
78  return tmp;
79  }
80  else
81  {
82  btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
83  if (s > SIMD_EPSILON)
84  {
85  btScalar d = m_radius / s;
86  btVector3 tmp;
87  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
88  tmp[m_coneIndices[1]] = -halfHeight;
89  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
90  return tmp;
91  }
92  else
93  {
94  btVector3 tmp;
95  tmp[m_coneIndices[0]] = btScalar(0.);
96  tmp[m_coneIndices[1]] = -halfHeight;
97  tmp[m_coneIndices[2]] = btScalar(0.);
98  return tmp;
99  }
100  }
101 }
102 
104 {
105  return coneLocalSupport(vec);
106 }
107 
108 void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
109 {
110  for (int i = 0; i < numVectors; i++)
111  {
112  const btVector3& vec = vectors[i];
113  supportVerticesOut[i] = coneLocalSupport(vec);
114  }
115 }
116 
118 {
119  btVector3 supVertex = coneLocalSupport(vec);
120  if (getMargin() != btScalar(0.))
121  {
122  btVector3 vecnorm = vec;
123  if (vecnorm.length2() < (SIMD_EPSILON * SIMD_EPSILON))
124  {
125  vecnorm.setValue(btScalar(-1.), btScalar(-1.), btScalar(-1.));
126  }
127  vecnorm.normalize();
128  supVertex += getMargin() * vecnorm;
129  }
130  return supVertex;
131 }
132 
134 {
135  int axis = m_coneIndices[1];
136  int r1 = m_coneIndices[0];
137  int r2 = m_coneIndices[2];
138  m_height *= scaling[axis] / m_localScaling[axis];
139  m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
142 }
SIMD_EPSILON
#define SIMD_EPSILON
Definition: btScalar.h:543
btConeShape::m_coneIndices
int m_coneIndices[3]
Definition: btConeShape.h:30
btVector3::length
btScalar length() const
Return the length of the vector.
Definition: btVector3.h:257
btConeShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btConeShape.cpp:103
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
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btConeShape.h
btConeShape::btConeShape
btConeShape(btScalar radius, btScalar height)
Definition: btConeShape.cpp:18
btConeShape::setConeUpIndex
void setConeUpIndex(int upIndex)
choose upAxis index
Definition: btConeShape.cpp:39
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:24
btConeShape::m_height
btScalar m_height
Definition: btConeShape.h:29
btConeShape::coneLocalSupport
btVector3 coneLocalSupport(const btVector3 &v) const
Definition: btConeShape.cpp:67
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btConeShape::m_radius
btScalar m_radius
Definition: btConeShape.h:28
btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btConeShape.cpp:108
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btConeShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConeShape.cpp:133
btConeShapeZ::btConeShapeZ
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:28
btConeShape
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:23
btConeShapeX::btConeShapeX
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:33
CONE_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:42
btConeShape::m_sinAngle
btScalar m_sinAngle
Definition: btConeShape.h:27
btSqrt
btScalar btSqrt(btScalar y)
Definition: btScalar.h:466
btVector3::normalize
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
Definition: btVector3.h:303
btConeShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btConeShape.cpp:117
btVector3::length2
btScalar length2() const
Return the length of the vector squared.
Definition: btVector3.h:251