minor tweaks to demos: enable constraint debug drawing in AllBulletDemos, default constraint debugging size set to 0.3,
set svn:eol-style native for folder files http://code.google.com/p/bullet/issues/detail?id=191
This commit is contained in:
erwin.coumans
@@ -1,118 +1,118 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CAPSULE_SHAPE_H
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#define BT_CAPSULE_SHAPE_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
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///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
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class btCapsuleShape : public btConvexInternalShape
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{
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protected:
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int m_upAxis;
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protected:
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///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
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btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
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public:
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btCapsuleShape(btScalar radius,btScalar height);
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///CollisionShape Interface
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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/// btConvexShape Interface
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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btVector3 halfExtents(getRadius(),getRadius(),getRadius());
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halfExtents[m_upAxis] = getRadius() + getHalfHeight();
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halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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virtual const char* getName()const
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{
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return "CapsuleShape";
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}
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int getUpAxis() const
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{
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return m_upAxis;
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}
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btScalar getRadius() const
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{
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int radiusAxis = (m_upAxis+2)%3;
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return m_implicitShapeDimensions[radiusAxis];
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}
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btScalar getHalfHeight() const
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{
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return m_implicitShapeDimensions[m_upAxis];
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}
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};
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///btCapsuleShapeX represents a capsule around the Z axis
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///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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class btCapsuleShapeX : public btCapsuleShape
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{
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public:
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btCapsuleShapeX(btScalar radius,btScalar height);
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//debugging
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virtual const char* getName()const
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{
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return "CapsuleX";
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}
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};
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///btCapsuleShapeZ represents a capsule around the Z axis
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///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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class btCapsuleShapeZ : public btCapsuleShape
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{
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public:
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btCapsuleShapeZ(btScalar radius,btScalar height);
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//debugging
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virtual const char* getName()const
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{
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return "CapsuleZ";
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}
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};
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#endif //BT_CAPSULE_SHAPE_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_CAPSULE_SHAPE_H
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#define BT_CAPSULE_SHAPE_H
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#include "btConvexInternalShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
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///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
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class btCapsuleShape : public btConvexInternalShape
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{
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protected:
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int m_upAxis;
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protected:
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///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
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btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
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public:
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btCapsuleShape(btScalar radius,btScalar height);
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///CollisionShape Interface
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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/// btConvexShape Interface
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
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virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
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{
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btVector3 halfExtents(getRadius(),getRadius(),getRadius());
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halfExtents[m_upAxis] = getRadius() + getHalfHeight();
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halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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btMatrix3x3 abs_b = t.getBasis().absolute();
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btVector3 center = t.getOrigin();
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btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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virtual const char* getName()const
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{
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return "CapsuleShape";
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}
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int getUpAxis() const
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{
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return m_upAxis;
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}
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btScalar getRadius() const
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{
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int radiusAxis = (m_upAxis+2)%3;
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return m_implicitShapeDimensions[radiusAxis];
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}
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btScalar getHalfHeight() const
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{
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return m_implicitShapeDimensions[m_upAxis];
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}
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};
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///btCapsuleShapeX represents a capsule around the Z axis
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///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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class btCapsuleShapeX : public btCapsuleShape
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{
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public:
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btCapsuleShapeX(btScalar radius,btScalar height);
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//debugging
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virtual const char* getName()const
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{
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return "CapsuleX";
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}
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};
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///btCapsuleShapeZ represents a capsule around the Z axis
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///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
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class btCapsuleShapeZ : public btCapsuleShape
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{
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public:
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btCapsuleShapeZ(btScalar radius,btScalar height);
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//debugging
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virtual const char* getName()const
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{
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return "CapsuleZ";
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}
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};
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#endif //BT_CAPSULE_SHAPE_H
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