Bullet Collision Detection & Physics Library
btBoxShape.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_OBB_BOX_MINKOWSKI_H
17 #define BT_OBB_BOX_MINKOWSKI_H
18 
20 #include "btCollisionMargin.h"
22 #include "LinearMath/btVector3.h"
23 #include "LinearMath/btMinMax.h"
24 
27 {
28 
29  //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
30 
31 
32 public:
33 
35 
37  {
38  btVector3 halfExtents = getHalfExtentsWithoutMargin();
39  btVector3 margin(getMargin(),getMargin(),getMargin());
40  halfExtents += margin;
41  return halfExtents;
42  }
43 
45  {
46  return m_implicitShapeDimensions;//scaling is included, margin is not
47  }
48 
49 
50  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
51  {
52  btVector3 halfExtents = getHalfExtentsWithoutMargin();
53  btVector3 margin(getMargin(),getMargin(),getMargin());
54  halfExtents += margin;
55 
56  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
57  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
58  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
59  }
60 
62  {
63  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
64 
65  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
66  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
67  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
68  }
69 
70  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
71  {
72  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
73 
74  for (int i=0;i<numVectors;i++)
75  {
76  const btVector3& vec = vectors[i];
77  supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
78  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
79  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
80  }
81 
82  }
83 
84 
85  btBoxShape( const btVector3& boxHalfExtents);
86 
87  virtual void setMargin(btScalar collisionMargin)
88  {
89  //correct the m_implicitShapeDimensions for the margin
90  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
91  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
92 
93  btConvexInternalShape::setMargin(collisionMargin);
94  btVector3 newMargin(getMargin(),getMargin(),getMargin());
95  m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
96 
97  }
98  virtual void setLocalScaling(const btVector3& scaling)
99  {
100  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
101  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
102  btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
103 
105 
106  m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
107 
108  }
109 
110  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
111 
112 
113 
114  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
115 
116  virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
117  {
118  //this plane might not be aligned...
119  btVector4 plane ;
120  getPlaneEquation(plane,i);
121  planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
122  planeSupport = localGetSupportingVertex(-planeNormal);
123  }
124 
125 
126  virtual int getNumPlanes() const
127  {
128  return 6;
129  }
130 
131  virtual int getNumVertices() const
132  {
133  return 8;
134  }
135 
136  virtual int getNumEdges() const
137  {
138  return 12;
139  }
140 
141 
142  virtual void getVertex(int i,btVector3& vtx) const
143  {
144  btVector3 halfExtents = getHalfExtentsWithMargin();
145 
146  vtx = btVector3(
147  halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
148  halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
149  halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
150  }
151 
152 
153  virtual void getPlaneEquation(btVector4& plane,int i) const
154  {
155  btVector3 halfExtents = getHalfExtentsWithoutMargin();
156 
157  switch (i)
158  {
159  case 0:
160  plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
161  break;
162  case 1:
163  plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
164  break;
165  case 2:
166  plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
167  break;
168  case 3:
169  plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
170  break;
171  case 4:
172  plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
173  break;
174  case 5:
175  plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
176  break;
177  default:
178  btAssert(0);
179  }
180  }
181 
182 
183  virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
184  //virtual void getEdge(int i,Edge& edge) const
185  {
186  int edgeVert0 = 0;
187  int edgeVert1 = 0;
188 
189  switch (i)
190  {
191  case 0:
192  edgeVert0 = 0;
193  edgeVert1 = 1;
194  break;
195  case 1:
196  edgeVert0 = 0;
197  edgeVert1 = 2;
198  break;
199  case 2:
200  edgeVert0 = 1;
201  edgeVert1 = 3;
202 
203  break;
204  case 3:
205  edgeVert0 = 2;
206  edgeVert1 = 3;
207  break;
208  case 4:
209  edgeVert0 = 0;
210  edgeVert1 = 4;
211  break;
212  case 5:
213  edgeVert0 = 1;
214  edgeVert1 = 5;
215 
216  break;
217  case 6:
218  edgeVert0 = 2;
219  edgeVert1 = 6;
220  break;
221  case 7:
222  edgeVert0 = 3;
223  edgeVert1 = 7;
224  break;
225  case 8:
226  edgeVert0 = 4;
227  edgeVert1 = 5;
228  break;
229  case 9:
230  edgeVert0 = 4;
231  edgeVert1 = 6;
232  break;
233  case 10:
234  edgeVert0 = 5;
235  edgeVert1 = 7;
236  break;
237  case 11:
238  edgeVert0 = 6;
239  edgeVert1 = 7;
240  break;
241  default:
242  btAssert(0);
243 
244  }
245 
246  getVertex(edgeVert0,pa );
247  getVertex(edgeVert1,pb );
248  }
249 
250 
251 
252 
253 
254  virtual bool isInside(const btVector3& pt,btScalar tolerance) const
255  {
256  btVector3 halfExtents = getHalfExtentsWithoutMargin();
257 
258  //btScalar minDist = 2*tolerance;
259 
260  bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
261  (pt.x() >= (-halfExtents.x()-tolerance)) &&
262  (pt.y() <= (halfExtents.y()+tolerance)) &&
263  (pt.y() >= (-halfExtents.y()-tolerance)) &&
264  (pt.z() <= (halfExtents.z()+tolerance)) &&
265  (pt.z() >= (-halfExtents.z()-tolerance));
266 
267  return result;
268  }
269 
270 
271  //debugging
272  virtual const char* getName()const
273  {
274  return "Box";
275  }
276 
278  {
279  return 6;
280  }
281 
282  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
283  {
284  switch (index)
285  {
286  case 0:
287  penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
288  break;
289  case 1:
290  penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
291  break;
292  case 2:
293  penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
294  break;
295  case 3:
296  penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
297  break;
298  case 4:
299  penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
300  break;
301  case 5:
302  penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
303  break;
304  default:
305  btAssert(0);
306  }
307  }
308 
309 };
310 
311 
312 #endif //BT_OBB_BOX_MINKOWSKI_H
313 
314 
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition: btBoxShape.h:183
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3 getHalfExtentsWithMargin() const
Definition: btBoxShape.h:36
virtual void setMargin(btScalar collisionMargin)
Definition: btBoxShape.h:87
virtual int getNumVertices() const
Definition: btBoxShape.h:131
#define btAssert(x)
Definition: btScalar.h:113
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
virtual void getVertex(int i, btVector3 &vtx) const
Definition: btBoxShape.h:142
virtual int getNumPreferredPenetrationDirections() const
Definition: btBoxShape.h:277
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBoxShape.h:44
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
virtual const char * getName() const
Definition: btBoxShape.h:272
virtual void setMargin(btScalar margin)
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBoxShape.h:70
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition: btBoxShape.h:254
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btBoxShape.h:98
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by ...
Definition: btBoxShape.h:26
#define btFsels(a, b, c)
Definition: btScalar.h:543
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btBoxShape.h:282
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btBoxShape.h:61
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
virtual int getNumPlanes() const
Definition: btBoxShape.h:126
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition: btBoxShape.h:116
virtual void setLocalScaling(const btVector3 &scaling)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBoxShape.h:50
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
virtual int getNumEdges() const
Definition: btBoxShape.h:136
virtual void getPlaneEquation(btVector4 &plane, int i) const
Definition: btBoxShape.h:153
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
Definition: btVector3.h:1214
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579