Bullet Collision Detection & Physics Library
btConeShape.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_CONE_MINKOWSKI_H
17 #define BT_CONE_MINKOWSKI_H
18 
19 #include "btConvexInternalShape.h"
21 
24 
25 {
26 
30  int m_coneIndices[3];
31  btVector3 coneLocalSupport(const btVector3& v) const;
32 
33 
34 public:
36 
37  btConeShape (btScalar radius,btScalar height);
38 
39  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
40  virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
41  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
42 
43  btScalar getRadius() const { return m_radius;}
44  btScalar getHeight() const { return m_height;}
45 
46 
47  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
48  {
49  btTransform identity;
50  identity.setIdentity();
51  btVector3 aabbMin,aabbMax;
52  getAabb(identity,aabbMin,aabbMax);
53 
54  btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
55 
56  btScalar margin = getMargin();
57 
58  btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
59  btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
60  btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
61  const btScalar x2 = lx*lx;
62  const btScalar y2 = ly*ly;
63  const btScalar z2 = lz*lz;
64  const btScalar scaledmass = mass * btScalar(0.08333333);
65 
66  inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
67 
68 // inertia.x() = scaledmass * (y2+z2);
69 // inertia.y() = scaledmass * (x2+z2);
70 // inertia.z() = scaledmass * (x2+y2);
71  }
72 
73 
74  virtual const char* getName()const
75  {
76  return "Cone";
77  }
78 
80  void setConeUpIndex(int upIndex);
81 
82  int getConeUpIndex() const
83  {
84  return m_coneIndices[1];
85  }
86 
88  {
89  return btVector3 (0,1,0);
90  }
91 
92  virtual void setLocalScaling(const btVector3& scaling);
93 
94 
95  virtual int calculateSerializeBufferSize() const;
96 
98  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
99 
100 
101 };
102 
104 class btConeShapeX : public btConeShape
105 {
106  public:
107  btConeShapeX(btScalar radius,btScalar height);
108 
110  {
111  return btVector3 (1,0,0);
112  }
113 
114  //debugging
115  virtual const char* getName()const
116  {
117  return "ConeX";
118  }
119 
120 
121 };
122 
124 class btConeShapeZ : public btConeShape
125 {
126 public:
127  btConeShapeZ(btScalar radius,btScalar height);
128 
130  {
131  return btVector3 (0,0,1);
132  }
133 
134  //debugging
135  virtual const char* getName()const
136  {
137  return "ConeZ";
138  }
139 
140 
141 };
142 
145 {
147 
149 
150  char m_padding[4];
151 };
152 
154 {
155  return sizeof(btConeShapeData);
156 }
157 
159 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
160 {
161  btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
162 
164 
165  shapeData->m_upIndex = m_coneIndices[1];
166 
167  return "btConeShapeData";
168 }
169 
170 #endif //BT_CONE_MINKOWSKI_H
171 
virtual int calculateSerializeBufferSize() const
Definition: btConeShape.h:153
char m_padding[4]
Definition: btConeShape.h:150
virtual const char * getName() const
Definition: btConeShape.h:115
btScalar getRadius() const
Definition: btConeShape.h:43
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)
int m_coneIndices[3]
Definition: btConeShape.h:30
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:172
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:109
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:87
btConeShape implements a Cone shape, around the X axis
Definition: btConeShape.h:104
#define SIMD_FORCE_INLINE
Definition: btScalar.h:63
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
btScalar m_height
Definition: btConeShape.h:29
int getConeUpIndex() const
Definition: btConeShape.h:82
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
btScalar m_radius
Definition: btConeShape.h:28
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btConeShape.h:144
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
Definition: btConeShape.h:23
btScalar getHeight() const
Definition: btConeShape.h:44
virtual const char * getName() const
Definition: btConeShape.h:74
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition: btConeShape.h:129
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:36
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConeShape.h:146
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:64
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btConeShape.h:159
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btConeShapeZ implements a Cone shape, around the Z axis
Definition: btConeShape.h:124
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:388
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:47
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:30
btScalar m_sinAngle
Definition: btConeShape.h:27
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
virtual const char * getName() const
Definition: btConeShape.h:135
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579