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updated EPA,

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updated user manual (work in progress)
This commit is contained in:
ejcoumans
2006-11-18 03:27:01 +00:00
parent 509ed8f634
commit 3adf09f7e3
6 changed files with 776 additions and 698 deletions
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53
src/BulletCollision/CollisionShapes/btConeShape.cpp
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@@ -16,50 +16,71 @@ subject to the following restrictions:
#include "btConeShape.h"
#include "LinearMath/btPoint3.h"
#ifdef WIN32
static int coneindices[3] = {1,2,0};
#else
static int coneindices[3] = {2,1,0};
#endif
btConeShape::btConeShape (btScalar radius,btScalar height):
m_radius (radius),
m_height(height)
{
setConeUpIndex(1);
btVector3 halfExtents;
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
}
///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:
assert(0);
};
}
btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
{
float halfHeight = m_height * 0.5f;
if (v[coneindices[1]] > v.length() * m_sinAngle)
if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
{
btVector3 tmp;
tmp[coneindices[0]] = 0.f;
tmp[coneindices[1]] = halfHeight;
tmp[coneindices[2]] = 0.f;
tmp[m_coneIndices[0]] = 0.f;
tmp[m_coneIndices[1]] = halfHeight;
tmp[m_coneIndices[2]] = 0.f;
return tmp;
}
else {
btScalar s = btSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
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[coneindices[0]] = v[coneindices[0]] * d;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = v[coneindices[2]] * d;
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[coneindices[0]] = 0.f;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = 0.f;
tmp[m_coneIndices[0]] = 0.f;
tmp[m_coneIndices[1]] = -halfHeight;
tmp[m_coneIndices[2]] = 0.f;
return tmp;
}
}