101 lines
3.3 KiB
C
101 lines
3.3 KiB
C
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/*
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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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*/
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#ifndef CONE_MINKOWSKI_H
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#define CONE_MINKOWSKI_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y axis. The btConeShapeX is aligned around the X axis and btConeShapeZ around the Z axis.
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class btConeShape : public btConvexInternalShape
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{
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btScalar m_sinAngle;
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btScalar m_radius;
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btScalar m_height;
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int m_coneIndices[3];
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btVector3 coneLocalSupport(const btVector3& v) const;
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public:
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btConeShape (btScalar radius,btScalar height);
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) 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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btScalar getRadius() const { return m_radius;}
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btScalar getHeight() const { return m_height;}
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
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{
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btTransform identity;
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identity.setIdentity();
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btVector3 aabbMin,aabbMax;
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getAabb(identity,aabbMin,aabbMax);
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btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
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btScalar margin = getMargin();
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btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
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btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
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btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
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const btScalar x2 = lx*lx;
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const btScalar y2 = ly*ly;
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const btScalar z2 = lz*lz;
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const btScalar scaledmass = mass * btScalar(0.08333333);
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inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
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// inertia.x() = scaledmass * (y2+z2);
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// inertia.y() = scaledmass * (x2+z2);
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// inertia.z() = scaledmass * (x2+y2);
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}
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virtual const char* getName()const
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{
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return "Cone";
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}
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///choose upAxis index
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void setConeUpIndex(int upIndex);
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int getConeUpIndex() const
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{
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return m_coneIndices[1];
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}
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};
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///btConeShape implements a Cone shape, around the X axis
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class btConeShapeX : public btConeShape
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{
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public:
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btConeShapeX(btScalar radius,btScalar height);
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};
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///btConeShapeZ implements a Cone shape, around the Z axis
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class btConeShapeZ : public btConeShape
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{
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public:
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btConeShapeZ(btScalar radius,btScalar height);
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};
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#endif //CONE_MINKOWSKI_H
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