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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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#ifndef BT_CYLINDER_MINKOWSKI_H
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#define BT_CYLINDER_MINKOWSKI_H
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#include "btBoxShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btVector3.h"
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/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
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class btCylinderShape : public btConvexInternalShape
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btVector3 getHalfExtentsWithMargin() const
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(),getMargin(),getMargin());
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halfExtents += margin;
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const btVector3& getHalfExtentsWithoutMargin() const
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return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
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btCylinderShape (const btVector3& halfExtents);
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void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual void setMargin(btScalar collisionMargin)
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//correct the m_implicitShapeDimensions for the margin
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btVector3 oldMargin(getMargin(),getMargin(),getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
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btConvexInternalShape::setMargin(collisionMargin);
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btVector3 newMargin(getMargin(),getMargin(),getMargin());
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m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
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supVertex = localGetSupportingVertexWithoutMargin(vec);
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if ( getMargin()!=btScalar(0.) )
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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supVertex+= getMargin() * vecnorm;
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// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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virtual btScalar getRadius() const
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return getHalfExtentsWithMargin().getX();
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virtual void setLocalScaling(const btVector3& scaling)
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btVector3 oldMargin(getMargin(),getMargin(),getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
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btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
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btConvexInternalShape::setLocalScaling(scaling);
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m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
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virtual const char* getName()const
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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class btCylinderShapeX : public btCylinderShape
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btCylinderShapeX (const btVector3& halfExtents);
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual const char* getName()const
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virtual btScalar getRadius() const
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return getHalfExtentsWithMargin().getY();
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class btCylinderShapeZ : public btCylinderShape
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btCylinderShapeZ (const btVector3& halfExtents);
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual const char* getName()const
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virtual btScalar getRadius() const
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return getHalfExtentsWithMargin().getX();
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btCylinderShapeData
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btConvexInternalShapeData m_convexInternalShapeData;
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SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
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return sizeof(btCylinderShapeData);
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
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btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
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btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
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shapeData->m_upAxis = m_upAxis;
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return "btCylinderShapeData";
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#endif //BT_CYLINDER_MINKOWSKI_H