Bullet Collision Detection & Physics Library: btConeShape.h Source File

Bullet Collision Detection & Physics Library

btConeShape.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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"
20#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
23 ATTRIBUTE_ALIGNED16(class)
24 btConeShape : public btConvexInternalShape
25
26{
27 btScalar m_sinAngle;
28 btScalar m_radius;
29 btScalar m_height;
30 int m_coneIndices[3];
31 btVector3 coneLocalSupport(const btVector3& v) const;
32
33public:
34 BT_DECLARE_ALIGNED_ALLOCATOR();
35
36 btConeShape(btScalar radius, btScalar height);
37
38 virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
39 virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
40 virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
41
42 btScalar getRadius() const { return m_radius; }
43 btScalar getHeight() const { return m_height; }
44
45 void setRadius(const btScalar radius)
46 {
47 m_radius = radius;
48 }
49 void setHeight(const btScalar height)
50 {
51 m_height = height;
52 }
53
54 virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
55 {
56 btTransform identity;
57 identity.setIdentity();
58 btVector3 aabbMin, aabbMax;
59 getAabb(identity, aabbMin, aabbMax);
60
61 btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
62
63 btScalar margin = getMargin();
64
65 btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
66 btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
67 btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
68 const btScalar x2 = lx * lx;
69 const btScalar y2 = ly * ly;
70 const btScalar z2 = lz * lz;
71 const btScalar scaledmass = mass * btScalar(0.08333333);
72
73 inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
74
75 // inertia.x() = scaledmass * (y2+z2);
76 // inertia.y() = scaledmass * (x2+z2);
77 // inertia.z() = scaledmass * (x2+y2);
78 }
79
80 virtual const char* getName() const
81 {
82 return "Cone";
83 }
84
86 void setConeUpIndex(int upIndex);
87
88 int getConeUpIndex() const
89 {
90 return m_coneIndices[1];
91 }
92
93 virtual btVector3 getAnisotropicRollingFrictionDirection() const
94 {
95 return btVector3(0, 1, 0);
96 }
97
98 virtual void setLocalScaling(const btVector3& scaling);
99
100 virtual int calculateSerializeBufferSize() const;
101
103 virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
104};
105
107 class btConeShapeX : public btConeShape
108{
109public:
110 btConeShapeX(btScalar radius, btScalar height);
111
112 virtual btVector3 getAnisotropicRollingFrictionDirection() const
113 {
114 return btVector3(1, 0, 0);
115 }
116
117 //debugging
118 virtual const char* getName() const
119 {
120 return "ConeX";
121 }
122};
123
125 class btConeShapeZ : public btConeShape
126{
127public:
128 btConeShapeZ(btScalar radius, btScalar height);
129
130 virtual btVector3 getAnisotropicRollingFrictionDirection() const
131 {
132 return btVector3(0, 0, 1);
133 }
134
135 //debugging
136 virtual const char* getName() const
137 {
138 return "ConeZ";
139 }
140};
141
143 struct btConeShapeData
144{
145 btConvexInternalShapeData m_convexInternalShapeData;
146
147 int m_upIndex;
148
149 char m_padding[4];
150};
151
152 SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
153{
154 return sizeof(btConeShapeData);
155}
156
158 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
159{
160 btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
161
162 btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
163
164 shapeData->m_upIndex = m_coneIndices[1];
165
166 // Fill padding with zeros to appease msan.
167 shapeData->m_padding[0] = 0;
168 shapeData->m_padding[1] = 0;
169 shapeData->m_padding[2] = 0;
170 shapeData->m_padding[3] = 0;
171
172 return "btConeShapeData";
173}
174
175#endif //BT_CONE_MINKOWSKI_H
btBroadphaseProxy.h
btConvexInternalShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition btScalar.h:99
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
btConeShapeX::getName
virtual const char * getName() const
Definition btConeShape.h:118
btConeShapeX::btConeShapeX
btConeShapeX(btScalar radius, btScalar height)
Definition btConeShape.cpp:33
btConeShapeX::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition btConeShape.h:112
btConeShapeZ::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition btConeShape.h:130
btConeShapeZ::btConeShapeZ
btConeShapeZ(btScalar radius, btScalar height)
Definition btConeShape.cpp:28
btConeShapeZ::getName
virtual const char * getName() const
Definition btConeShape.h:136
btConeShape::getRadius
btScalar getRadius() const
Definition btConeShape.h:42
btConeShape::localGetSupportingVertexWithoutMargin
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition btConeShape.cpp:103
btConeShape::btConeShape
btConeShape(btScalar radius, btScalar height)
Definition btConeShape.cpp:18
btConeShape::setRadius
void setRadius(const btScalar radius)
Definition btConeShape.h:45
btConeShape::getAnisotropicRollingFrictionDirection
virtual btVector3 getAnisotropicRollingFrictionDirection() const
the getAnisotropicRollingFrictionDirection can be used in combination with setAnisotropicFriction See...
Definition btConeShape.h:93
btConeShape::m_height
btScalar m_height
Definition btConeShape.h:29
btConeShape::m_radius
btScalar m_radius
Definition btConeShape.h:28
btConeShape::BT_DECLARE_ALIGNED_ALLOCATOR
BT_DECLARE_ALIGNED_ALLOCATOR()
btConeShape::m_sinAngle
btScalar m_sinAngle
Definition btConeShape.h:27
btConeShape::setHeight
void setHeight(const btScalar height)
Definition btConeShape.h:49
btConeShape::getConeUpIndex
int getConeUpIndex() const
Definition btConeShape.h:88
btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition btConeShape.cpp:108
btConeShape::calculateSerializeBufferSize
virtual int calculateSerializeBufferSize() const
Definition btConeShape.h:152
btConeShape::getName
virtual const char * getName() const
Definition btConeShape.h:80
btConeShape::m_coneIndices
int m_coneIndices[3]
Definition btConeShape.h:30
btConeShape::getHeight
btScalar getHeight() const
Definition btConeShape.h:43
btConeShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btConeShape.h:158
btConeShape::coneLocalSupport
btVector3 coneLocalSupport(const btVector3 &v) const
Definition btConeShape.cpp:67
btConeShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition btConeShape.h:54
btConeShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition btConeShape.cpp:117
btConvexInternalShape::serialize
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition btConvexInternalShape.h:154
btConvexInternalShape::getAabb
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...
Definition btConvexInternalShape.h:84
btConvexInternalShape::btConvexInternalShape
btConvexInternalShape()
Definition btConvexInternalShape.cpp:18
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition btConvexInternalShape.h:106
btSerializer
Definition btSerializer.h:66
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition btTransform.h:167
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btVector3::z
const btScalar & z() const
Return the z value.
Definition btVector3.h:579
btVector3::x
const btScalar & x() const
Return the x value.
Definition btVector3.h:575
btVector3::y
const btScalar & y() const
Return the y value.
Definition btVector3.h:577
btConeShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btConeShape.h:144
btConeShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition btConeShape.h:145
btConeShapeData::m_upIndex
int m_upIndex
Definition btConeShape.h:147
btConeShapeData::m_padding
char m_padding[4]
Definition btConeShape.h:149
btConvexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btConvexInternalShape.h:136