moved files around

Bullet/CollisionShapes/ConeShape.h

@@ -0,0 +1,83 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef CONE_MINKOWSKI_H
+#define CONE_MINKOWSKI_H
+
+#include "ConvexShape.h"
+#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
+
+/// implements cone shape interface
+class ConeShape : public ConvexShape
+
+{
+
+	float m_sinAngle;
+	float m_radius;
+	float m_height;
+	
+	SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
+
+
+public:
+	ConeShape (SimdScalar radius,SimdScalar height);
+	
+	virtual SimdVector3	LocalGetSupportingVertex(const SimdVector3& vec) const;
+	virtual SimdVector3	LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
+	virtual void	BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const;
+
+	float GetRadius() const { return m_radius;}
+	float GetHeight() const { return m_height;}
+
+
+	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
+	{
+		SimdTransform identity;
+		identity.setIdentity();
+		SimdVector3 aabbMin,aabbMax;
+		GetAabb(identity,aabbMin,aabbMax);
+
+		SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+
+		float margin = GetMargin();
+
+		SimdScalar lx=2.f*(halfExtents.x()+margin);
+		SimdScalar ly=2.f*(halfExtents.y()+margin);
+		SimdScalar lz=2.f*(halfExtents.z()+margin);
+		const SimdScalar x2 = lx*lx;
+		const SimdScalar y2 = ly*ly;
+		const SimdScalar z2 = lz*lz;
+		const SimdScalar scaledmass = mass * 0.08333333f;
+
+		inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
+
+//		inertia.x() = scaledmass * (y2+z2);
+//		inertia.y() = scaledmass * (x2+z2);
+//		inertia.z() = scaledmass * (x2+y2);
+	}
+
+
+
+		virtual int	GetShapeType() const { return CONE_SHAPE_PROXYTYPE; }
+
+		virtual char*	GetName()const 
+		{
+			return "Cone";
+		}
+};
+
+
+#endif //CONE_MINKOWSKI_H
+