Blender  V3.3
btConeShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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_CONE_MINKOWSKI_H
17 #define BT_CONE_MINKOWSKI_H
18 
19 #include "btConvexInternalShape.h"
21 
25 
26 {
27  btScalar m_sinAngle;
30  int m_coneIndices[3];
31  btVector3 coneLocalSupport(const btVector3& v) const;
32 
33 public:
35 
37 
38  virtual btVector3 localGetSupportingVertex(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  }
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 
60  getAabb(identity, aabbMin, aabbMax); // This already contains the margin
61  btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
62 
63  btScalar lx = btScalar(2.) * (halfExtents.x());
64  btScalar ly = btScalar(2.) * (halfExtents.y());
65  btScalar lz = btScalar(2.) * (halfExtents.z());
66  const btScalar x2 = lx * lx;
67  const btScalar y2 = ly * ly;
68  const btScalar z2 = lz * lz;
69  const btScalar scaledmass = mass * btScalar(0.08333333);
70 
71  inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
72 
73  // inertia.x() = scaledmass * (y2+z2);
74  // inertia.y() = scaledmass * (x2+z2);
75  // inertia.z() = scaledmass * (x2+y2);
76  }
77 
78  virtual const char* getName() const
79  {
80  return "Cone";
81  }
82 
84  void setConeUpIndex(int upIndex);
85 
86  int getConeUpIndex() const
87  {
88  return m_coneIndices[1];
89  }
90 
92  {
93  return btVector3(0, 1, 0);
94  }
95 
96  virtual void setLocalScaling(const btVector3& scaling);
97 
98  virtual int calculateSerializeBufferSize() const;
99 
101  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
102 };
103 
105 class btConeShapeX : public btConeShape
106 {
107 public:
109 
111  {
112  return btVector3(1, 0, 0);
113  }
114 
115  //debugging
116  virtual const char* getName() const
117  {
118  return "ConeX";
119  }
120 };
121 
123 class btConeShapeZ : public btConeShape
124 {
125 public:
127 
129  {
130  return btVector3(0, 0, 1);
131  }
132 
133  //debugging
134  virtual const char* getName() const
135  {
136  return "ConeZ";
137  }
138 };
139 
142 {
144 
146 
147  char m_padding[4];
148 };
149 
151 {
152  return sizeof(btConeShapeData);
153 }
154 
156 SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
157 {
158  btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
159 
161 
162  shapeData->m_upIndex = m_coneIndices[1];
163 
164  // Fill padding with zeros to appease msan.
165  shapeData->m_padding[0] = 0;
166  shapeData->m_padding[1] = 0;
167  shapeData->m_padding[2] = 0;
168  shapeData->m_padding[3] = 0;
169 
170  return "btConeShapeData";
171 }
172 
173 #endif //BT_CONE_MINKOWSKI_H
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei height
_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 x2
ATTR_WARN_UNUSED_RESULT const BMVert * v
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 setLocalScaling(const btVector3 &scaling)
Definition: btBox2dShape.h:120
BT_DECLARE_ALIGNED_ALLOCATOR()
btConeShape(btScalar radius, btScalar height)
Definition: btConeShape.cpp:18
btScalar m_radius
Definition: btConeShape.h:28
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
btScalar getHeight() const
Definition: btConeShape.h:43
virtual const char * getName() const
Definition: btConeShape.h:78
virtual int calculateSerializeBufferSize() const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
Definition: btConeShape.h:91
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:51
btScalar getRadius() const
Definition: btConeShape.h:42
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
int m_coneIndices[3]
Definition: btConeShape.h:30
void setHeight(const btScalar height)
Definition: btConeShape.h:49
btScalar m_height
Definition: btConeShape.h:29
btVector3 coneLocalSupport(const btVector3 &v) const
Definition: btConeShape.cpp:67
void setConeUpIndex(int upIndex)
choose upAxis index
Definition: btConeShape.cpp:39
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
void setRadius(const btScalar radius)
Definition: btConeShape.h:45
int getConeUpIndex() const
Definition: btConeShape.h:86
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btConvexInternalShape()
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
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
btConeShape implements a Cone shape, around the X axis
Definition: btConeShape.h:106
btConeShapeX(btScalar radius, btScalar height)
Definition: btConeShape.cpp:33
virtual btVector3 getAnisotropicRollingFrictionDirection() const
Definition: btConeShape.h:110
virtual const char * getName() const
Definition: btConeShape.h:116
btConeShapeZ implements a Cone shape, around the Z axis
Definition: btConeShape.h:124
virtual btVector3 getAnisotropicRollingFrictionDirection() const
Definition: btConeShape.h:128
virtual const char * getName() const
Definition: btConeShape.h:134
btConeShapeZ(btScalar radius, btScalar height)
Definition: btConeShape.cpp:28
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btConeShape.h:142
btConvexInternalShapeData m_convexInternalShapeData
Definition: btConeShape.h:143
char m_padding[4]
Definition: btConeShape.h:147
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64