Bullet Collision Detection & Physics Library
btCapsuleShape.h
Go to the documentation of this file.
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 
22 
27 {
28 protected:
29  int m_upAxis;
30 
31 protected:
33  btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
34 
35 public:
36 
38 
39  btCapsuleShape(btScalar radius,btScalar height);
40 
42  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
43 
45  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
46 
47  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
48 
49  virtual void setMargin(btScalar collisionMargin)
50  {
51  //correct the m_implicitShapeDimensions for the margin
52  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
53  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
54 
55  btConvexInternalShape::setMargin(collisionMargin);
56  btVector3 newMargin(getMargin(),getMargin(),getMargin());
57  m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
58 
59  }
60 
61  virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
62  {
63  btVector3 halfExtents(getRadius(),getRadius(),getRadius());
64  halfExtents[m_upAxis] = getRadius() + getHalfHeight();
65  halfExtents += btVector3(getMargin(),getMargin(),getMargin());
66  btMatrix3x3 abs_b = t.getBasis().absolute();
67  btVector3 center = t.getOrigin();
68  btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
69 
70  aabbMin = center - extent;
71  aabbMax = center + extent;
72  }
73 
74  virtual const char* getName()const
75  {
76  return "CapsuleShape";
77  }
78 
79  int getUpAxis() const
80  {
81  return m_upAxis;
82  }
83 
85  {
86  int radiusAxis = (m_upAxis+2)%3;
87  return m_implicitShapeDimensions[radiusAxis];
88  }
89 
91  {
92  return m_implicitShapeDimensions[m_upAxis];
93  }
94 
95  virtual void setLocalScaling(const btVector3& scaling)
96  {
97  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
98  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
99  btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
100 
102 
103  m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
104 
105  }
106 
108  {
109  btVector3 aniDir(0,0,0);
110  aniDir[getUpAxis()]=1;
111  return aniDir;
112  }
113 
114 
115  virtual int calculateSerializeBufferSize() const;
116 
118  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
119 
120  SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData* dataBuffer);
121 
122 };
123 
127 {
128 public:
129 
130  btCapsuleShapeX(btScalar radius,btScalar height);
131 
132  //debugging
133  virtual const char* getName()const
134  {
135  return "CapsuleX";
136  }
137 
138 
139 
140 };
141 
145 {
146 public:
147  btCapsuleShapeZ(btScalar radius,btScalar height);
148 
149  //debugging
150  virtual const char* getName()const
151  {
152  return "CapsuleZ";
153  }
154 
155 
156 };
157 
160 {
162 
163  int m_upAxis;
164 
165  char m_padding[4];
166 };
167 
169 {
170  return sizeof(btCapsuleShapeData);
171 }
172 
174 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
175 {
176  btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
177 
179 
180  shapeData->m_upAxis = m_upAxis;
181 
182  return "btCapsuleShapeData";
183 }
184 
186 {
190  //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
191  m_upAxis = dataBuffer->m_upAxis;
192 }
193 
194 #endif //BT_CAPSULE_SHAPE_H
btCapsuleShapeX(btScalar radius, btScalar height)
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned ...
virtual const char * getName() const
btCapsuleShapeX represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
btScalar getRadius() const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
int getUpAxis() const
btCapsuleShapeZ(btScalar radius, btScalar height)
virtual void setMargin(btScalar margin)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:117
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:980
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
virtual int calculateSerializeBufferSize() const
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
virtual void setMargin(btScalar collisionMargin)
btVector3FloatData m_implicitShapeDimensions
btConvexInternalShapeData m_convexInternalShapeData
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
virtual void setLocalScaling(const btVector3 &scaling)
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual const char * getName() const
virtual const char * getName() const
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:719
btCapsuleShapeZ represents a capsule around the Z axis the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
virtual void setLocalScaling(const btVector3 &scaling)
void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:48
void deSerializeFloat(const struct btVector3FloatData &dataIn)
Definition: btVector3.h:1319
btScalar getHalfHeight() const
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...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278