| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "BulletCollision/CollisionShapes/btConeShape.h" |
| |
| |
| |
| btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (), |
| m_radius (radius), |
| m_height(height) |
| { |
| m_shapeType = CONE_SHAPE_PROXYTYPE; |
| setConeUpIndex(1); |
| btVector3 halfExtents; |
| m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height)); |
| } |
| |
| btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height): |
| btConeShape(radius,height) |
| { |
| setConeUpIndex(2); |
| } |
| |
| btConeShapeX::btConeShapeX (btScalar radius,btScalar height): |
| btConeShape(radius,height) |
| { |
| setConeUpIndex(0); |
| } |
| |
| ///choose upAxis index |
| void btConeShape::setConeUpIndex(int upIndex) |
| { |
| switch (upIndex) |
| { |
| case 0: |
| m_coneIndices[0] = 1; |
| m_coneIndices[1] = 0; |
| m_coneIndices[2] = 2; |
| break; |
| case 1: |
| m_coneIndices[0] = 0; |
| m_coneIndices[1] = 1; |
| m_coneIndices[2] = 2; |
| break; |
| case 2: |
| m_coneIndices[0] = 0; |
| m_coneIndices[1] = 2; |
| m_coneIndices[2] = 1; |
| break; |
| default: |
| btAssert(0); |
| }; |
| } |
| |
| btVector3 btConeShape::coneLocalSupport(const btVector3& v) const |
| { |
| |
| btScalar halfHeight = m_height * btScalar(0.5); |
| |
| if (v[m_coneIndices[1]] > v.length() * m_sinAngle) |
| { |
| btVector3 tmp; |
| |
| tmp[m_coneIndices[0]] = btScalar(0.); |
| tmp[m_coneIndices[1]] = halfHeight; |
| tmp[m_coneIndices[2]] = btScalar(0.); |
| return tmp; |
| } |
| else { |
| btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]); |
| if (s > SIMD_EPSILON) { |
| btScalar d = m_radius / s; |
| btVector3 tmp; |
| tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d; |
| tmp[m_coneIndices[1]] = -halfHeight; |
| tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d; |
| return tmp; |
| } |
| else { |
| btVector3 tmp; |
| tmp[m_coneIndices[0]] = btScalar(0.); |
| tmp[m_coneIndices[1]] = -halfHeight; |
| tmp[m_coneIndices[2]] = btScalar(0.); |
| return tmp; |
| } |
| } |
| |
| } |
| |
| btVector3 btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const |
| { |
| return coneLocalSupport(vec); |
| } |
| |
| void btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const |
| { |
| for (int i=0;i<numVectors;i++) |
| { |
| const btVector3& vec = vectors[i]; |
| supportVerticesOut[i] = coneLocalSupport(vec); |
| } |
| } |
| |
| |
| btVector3 btConeShape::localGetSupportingVertex(const btVector3& vec) const |
| { |
| btVector3 supVertex = coneLocalSupport(vec); |
| if ( getMargin()!=btScalar(0.) ) |
| { |
| btVector3 vecnorm = vec; |
| if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON)) |
| { |
| vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.)); |
| } |
| vecnorm.normalize(); |
| supVertex+= getMargin() * vecnorm; |
| } |
| return supVertex; |
| } |
| |
| |