Blender  V3.3
btCapsuleShape.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_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
18 
19 #include "btConvexInternalShape.h"
21 
27 {
28 protected:
29  int m_upAxis;
30 
31 protected:
34 
35 public:
37 
39 
41  virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
42 
45 
46  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
47 
48  virtual void setMargin(btScalar collisionMargin)
49  {
50  //don't override the margin for capsules, their entire radius == margin
51  (void)collisionMargin;
52  }
53 
54  virtual void getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
55  {
56  btVector3 halfExtents(getRadius(), getRadius(), getRadius());
57  halfExtents[m_upAxis] = getRadius() + getHalfHeight();
58  btMatrix3x3 abs_b = t.getBasis().absolute();
59  btVector3 center = t.getOrigin();
60  btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
61 
62  aabbMin = center - extent;
63  aabbMax = center + extent;
64  }
65 
66  virtual const char* getName() const
67  {
68  return "CapsuleShape";
69  }
70 
71  int getUpAxis() const
72  {
73  return m_upAxis;
74  }
75 
77  {
78  int radiusAxis = (m_upAxis + 2) % 3;
79  return m_implicitShapeDimensions[radiusAxis];
80  }
81 
83  {
85  }
86 
87  virtual void setLocalScaling(const btVector3& scaling)
88  {
89  btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
91  m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
92  //update m_collisionMargin, since entire radius==margin
93  int radiusAxis = (m_upAxis + 2) % 3;
95  }
96 
98  {
99  btVector3 aniDir(0, 0, 0);
100  aniDir[getUpAxis()] = 1;
101  return aniDir;
102  }
103 
104  virtual int calculateSerializeBufferSize() const;
105 
107  virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
108 
110 };
111 
115 {
116 public:
118 
119  //debugging
120  virtual const char* getName() const
121  {
122  return "CapsuleX";
123  }
124 };
125 
129 {
130 public:
132 
133  //debugging
134  virtual const char* getName() const
135  {
136  return "CapsuleZ";
137  }
138 };
139 
142 {
144 
145  int m_upAxis;
146 
147  char m_padding[4];
148 };
149 
151 {
152  return sizeof(btCapsuleShapeData);
153 }
154 
156 SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
157 {
158  btCapsuleShapeData* shapeData = (btCapsuleShapeData*)dataBuffer;
159 
161 
162  shapeData->m_upAxis = m_upAxis;
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 "btCapsuleShapeData";
171 }
172 
174 {
177  m_localScaling.deSerializeFloat(dataBuffer->m_convexInternalShapeData.m_localScaling);
178  //it is best to already pre-allocate the matching btCapsuleShape*(X/Z) version to match m_upAxis
179  m_upAxis = dataBuffer->m_upAxis;
180 }
181 
182 #endif //BT_CAPSULE_SHAPE_H
NSNotificationCenter * center
_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 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
@ CAPSULE_SHAPE_PROXYTYPE
virtual void setLocalScaling(const btVector3 &scaling)
in case we receive negative scaling
BT_DECLARE_ALIGNED_ALLOCATOR()
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
btConvexShape Interface
Definition: btBox2dShape.h:62
virtual const char * getName() const
virtual int calculateSerializeBufferSize() const
virtual btVector3 getAnisotropicRollingFrictionDirection() const
btScalar getRadius() const
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
CollisionShape Interface.
Definition: btConeShape.h:54
int getUpAxis() const
btCapsuleShape()
only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btScalar getHalfHeight() const
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void setMargin(btScalar collisionMargin)
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:71
SIMD_FORCE_INLINE void deSerializeFloat(struct btCapsuleShapeData *dataBuffer)
virtual const char * serialize(void *dataBuffer, btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
btScalar m_collisionMargin
btVector3 m_localScaling
btConvexInternalShape()
btVector3 m_implicitShapeDimensions
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:50
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
virtual const char * getName() const
btCapsuleShapeX(btScalar radius, btScalar height)
virtual const char * getName() const
btCapsuleShapeZ(btScalar radius, btScalar height)
SyclQueue void void size_t num_bytes void
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btConvexInternalShapeData m_convexInternalShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
btVector3FloatData m_implicitShapeDimensions