Blender  V3.3
btBox2dShape.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_OBB_BOX_2D_SHAPE_H
17 #define BT_OBB_BOX_2D_SHAPE_H
18 
22 #include "LinearMath/btVector3.h"
23 #include "LinearMath/btMinMax.h"
24 
28 {
29  //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
30 
31  btVector3 m_centroid;
34 
35 public:
37 
39  {
40  btVector3 halfExtents = getHalfExtentsWithoutMargin();
41  btVector3 margin(getMargin(), getMargin(), getMargin());
42  halfExtents += margin;
43  return halfExtents;
44  }
45 
47  {
48  return m_implicitShapeDimensions; //changed in Bullet 2.63: assume the scaling and margin are included
49  }
50 
51  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
52  {
53  btVector3 halfExtents = getHalfExtentsWithoutMargin();
54  btVector3 margin(getMargin(), getMargin(), getMargin());
55  halfExtents += margin;
56 
57  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
58  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
59  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
60  }
61 
63  {
64  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
65 
66  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
67  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
68  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
69  }
70 
71  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
72  {
73  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
74 
75  for (int i = 0; i < numVectors; i++)
76  {
77  const btVector3& vec = vectors[i];
78  supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
79  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
80  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
81  }
82  }
83 
85  btBox2dShape(const btVector3& boxHalfExtents)
87  m_centroid(0, 0, 0)
88  {
89  m_vertices[0].setValue(-boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
90  m_vertices[1].setValue(boxHalfExtents.getX(), -boxHalfExtents.getY(), 0);
91  m_vertices[2].setValue(boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
92  m_vertices[3].setValue(-boxHalfExtents.getX(), boxHalfExtents.getY(), 0);
93 
94  m_normals[0].setValue(0, -1, 0);
95  m_normals[1].setValue(1, 0, 0);
96  m_normals[2].setValue(0, 1, 0);
97  m_normals[3].setValue(-1, 0, 0);
98 
99  btScalar minDimension = boxHalfExtents.getX();
100  if (minDimension > boxHalfExtents.getY())
101  minDimension = boxHalfExtents.getY();
102 
103  m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
104  btVector3 margin(getMargin(), getMargin(), getMargin());
105  m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
106 
107  setSafeMargin(minDimension);
108  };
109 
110  virtual void setMargin(btScalar collisionMargin)
111  {
112  //correct the m_implicitShapeDimensions for the margin
113  btVector3 oldMargin(getMargin(), getMargin(), getMargin());
114  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
115 
116  btConvexInternalShape::setMargin(collisionMargin);
117  btVector3 newMargin(getMargin(), getMargin(), getMargin());
118  m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
119  }
120  virtual void setLocalScaling(const btVector3& scaling)
121  {
122  btVector3 oldMargin(getMargin(), getMargin(), getMargin());
123  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions + oldMargin;
124  btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
125 
127 
128  m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
129  }
130 
131  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const;
132 
133  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
134 
135  int getVertexCount() const
136  {
137  return 4;
138  }
139 
140  virtual int getNumVertices() const
141  {
142  return 4;
143  }
144 
145  const btVector3* getVertices() const
146  {
147  return &m_vertices[0];
148  }
149 
150  const btVector3* getNormals() const
151  {
152  return &m_normals[0];
153  }
154 
155  virtual void getPlane(btVector3 & planeNormal, btVector3 & planeSupport, int i) const
156  {
157  //this plane might not be aligned...
158  btVector4 plane;
159  getPlaneEquation(plane, i);
160  planeNormal = btVector3(plane.getX(), plane.getY(), plane.getZ());
161  planeSupport = localGetSupportingVertex(-planeNormal);
162  }
163 
164  const btVector3& getCentroid() const
165  {
166  return m_centroid;
167  }
168 
169  virtual int getNumPlanes() const
170  {
171  return 6;
172  }
173 
174  virtual int getNumEdges() const
175  {
176  return 12;
177  }
178 
179  virtual void getVertex(int i, btVector3& vtx) const
180  {
181  btVector3 halfExtents = getHalfExtentsWithoutMargin();
182 
183  vtx = btVector3(
184  halfExtents.x() * (1 - (i & 1)) - halfExtents.x() * (i & 1),
185  halfExtents.y() * (1 - ((i & 2) >> 1)) - halfExtents.y() * ((i & 2) >> 1),
186  halfExtents.z() * (1 - ((i & 4) >> 2)) - halfExtents.z() * ((i & 4) >> 2));
187  }
188 
189  virtual void getPlaneEquation(btVector4 & plane, int i) const
190  {
191  btVector3 halfExtents = getHalfExtentsWithoutMargin();
192 
193  switch (i)
194  {
195  case 0:
196  plane.setValue(btScalar(1.), btScalar(0.), btScalar(0.), -halfExtents.x());
197  break;
198  case 1:
199  plane.setValue(btScalar(-1.), btScalar(0.), btScalar(0.), -halfExtents.x());
200  break;
201  case 2:
202  plane.setValue(btScalar(0.), btScalar(1.), btScalar(0.), -halfExtents.y());
203  break;
204  case 3:
205  plane.setValue(btScalar(0.), btScalar(-1.), btScalar(0.), -halfExtents.y());
206  break;
207  case 4:
208  plane.setValue(btScalar(0.), btScalar(0.), btScalar(1.), -halfExtents.z());
209  break;
210  case 5:
211  plane.setValue(btScalar(0.), btScalar(0.), btScalar(-1.), -halfExtents.z());
212  break;
213  default:
214  btAssert(0);
215  }
216  }
217 
218  virtual void getEdge(int i, btVector3& pa, btVector3& pb) const
219  //virtual void getEdge(int i,Edge& edge) const
220  {
221  int edgeVert0 = 0;
222  int edgeVert1 = 0;
223 
224  switch (i)
225  {
226  case 0:
227  edgeVert0 = 0;
228  edgeVert1 = 1;
229  break;
230  case 1:
231  edgeVert0 = 0;
232  edgeVert1 = 2;
233  break;
234  case 2:
235  edgeVert0 = 1;
236  edgeVert1 = 3;
237 
238  break;
239  case 3:
240  edgeVert0 = 2;
241  edgeVert1 = 3;
242  break;
243  case 4:
244  edgeVert0 = 0;
245  edgeVert1 = 4;
246  break;
247  case 5:
248  edgeVert0 = 1;
249  edgeVert1 = 5;
250 
251  break;
252  case 6:
253  edgeVert0 = 2;
254  edgeVert1 = 6;
255  break;
256  case 7:
257  edgeVert0 = 3;
258  edgeVert1 = 7;
259  break;
260  case 8:
261  edgeVert0 = 4;
262  edgeVert1 = 5;
263  break;
264  case 9:
265  edgeVert0 = 4;
266  edgeVert1 = 6;
267  break;
268  case 10:
269  edgeVert0 = 5;
270  edgeVert1 = 7;
271  break;
272  case 11:
273  edgeVert0 = 6;
274  edgeVert1 = 7;
275  break;
276  default:
277  btAssert(0);
278  }
279 
280  getVertex(edgeVert0, pa);
281  getVertex(edgeVert1, pb);
282  }
283 
284  virtual bool isInside(const btVector3& pt, btScalar tolerance) const
285  {
286  btVector3 halfExtents = getHalfExtentsWithoutMargin();
287 
288  //btScalar minDist = 2*tolerance;
289 
290  bool result = (pt.x() <= (halfExtents.x() + tolerance)) &&
291  (pt.x() >= (-halfExtents.x() - tolerance)) &&
292  (pt.y() <= (halfExtents.y() + tolerance)) &&
293  (pt.y() >= (-halfExtents.y() - tolerance)) &&
294  (pt.z() <= (halfExtents.z() + tolerance)) &&
295  (pt.z() >= (-halfExtents.z() - tolerance));
296 
297  return result;
298  }
299 
300  //debugging
301  virtual const char* getName() const
302  {
303  return "Box2d";
304  }
305 
307  {
308  return 6;
309  }
310 
311  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
312  {
313  switch (index)
314  {
315  case 0:
316  penetrationVector.setValue(btScalar(1.), btScalar(0.), btScalar(0.));
317  break;
318  case 1:
319  penetrationVector.setValue(btScalar(-1.), btScalar(0.), btScalar(0.));
320  break;
321  case 2:
322  penetrationVector.setValue(btScalar(0.), btScalar(1.), btScalar(0.));
323  break;
324  case 3:
325  penetrationVector.setValue(btScalar(0.), btScalar(-1.), btScalar(0.));
326  break;
327  case 4:
328  penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(1.));
329  break;
330  case 5:
331  penetrationVector.setValue(btScalar(0.), btScalar(0.), btScalar(-1.));
332  break;
333  default:
334  btAssert(0);
335  }
336  }
337 };
338 
339 #endif //BT_OBB_BOX_2D_SHAPE_H
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
Definition: btBox2dShape.h:120
BT_DECLARE_ALIGNED_ALLOCATOR()
const btVector3 * getNormals() const
Definition: btBox2dShape.h:150
SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition: btBox2dShape.h:218
const btVector3 * getVertices() const
Definition: btBox2dShape.h:145
const btVector3 & getCentroid() const
Definition: btBox2dShape.h:164
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition: btBox2dShape.h:284
virtual const char * getName() const
Definition: btBox2dShape.h:301
btBox2dShape(const btVector3 &boxHalfExtents)
a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
Definition: btBox2dShape.h:85
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btBox2dShape.h:311
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBox2dShape.h:46
btVector3 m_vertices[4]
Definition: btBox2dShape.h:32
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:51
btVector3 m_normals[4]
Definition: btBox2dShape.h:33
btVector3 getHalfExtentsWithMargin() const
Definition: btBox2dShape.h:38
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:54
virtual int getNumVertices() const
Definition: btBox2dShape.h:140
virtual 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...
virtual void getVertex(int i, btVector3 &vtx) const
Definition: btBox2dShape.h:179
virtual void setMargin(btScalar collisionMargin)
Definition: btBox2dShape.h:110
virtual int getNumPlanes() const
Definition: btBox2dShape.h:169
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition: btBox2dShape.h:155
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
virtual int getNumEdges() const
Definition: btBox2dShape.h:174
virtual int getNumPreferredPenetrationDirections() const
Definition: btBox2dShape.h:306
int getVertexCount() const
Definition: btBox2dShape.h:135
virtual void getPlaneEquation(btVector4 &plane, int i) const
Definition: btBox2dShape.h:189
@ BOX_2D_SHAPE_PROXYTYPE
virtual btScalar getMargin() const =0
btVector3 m_localScaling
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
btVector3 m_implicitShapeDimensions
btPolyhedralConvexShape()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:285
#define SIMD_FORCE_INLINE
Definition: btScalar.h:280
#define btFsels(a, b, c)
Definition: btScalar.h:603
#define btAssert(x)
Definition: btScalar.h:295
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82
SIMD_FORCE_INLINE void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
Definition: btVector3.h:1198