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added btCapsuleShapeX and btCapsuleShapeZ, for X and Z upaxis capsules. The default btCapsuleShape stays Y-axis, for backwards compatibility.

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This commit is contained in:
ejcoumans
2008-02-07 00:34:06 +00:00
parent d88ba6063e
commit f22d338959
2 changed files with 154 additions and 65 deletions
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31
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
View File

@@ -50,7 +50,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
{
btVector3 pos(0,getHalfHeight(),0);
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -60,7 +62,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
}
}
{
btVector3 pos(0,-getHalfHeight(),0);
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -88,7 +92,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
btVector3 vtx;
btScalar newDot;
{
btVector3 pos(0,getHalfHeight(),0);
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -98,7 +103,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
}
}
{
btVector3 pos(0,-getHalfHeight(),0);
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -122,7 +128,8 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
btScalar radius = getRadius();
btVector3 halfExtents(radius,radius+getHalfHeight(),radius);
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
@@ -140,6 +147,20 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
}
btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
{
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
}
btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
{
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
}

188
src/BulletCollision/CollisionShapes/btCapsuleShape.h
View File

@@ -1,60 +1,128 @@
/*
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 BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
class btCapsuleShape : public btConvexInternalShape
{
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual const char* getName()const
{
return "CapsuleShape";
}
btScalar getRadius() const
{
return m_implicitShapeDimensions.getX();
}
btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getY();
}
};
#endif //BT_CAPSULE_SHAPE_H
/*
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 BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
///btCapsuleShape represents a capsule around the Y axis
///A more general solution that can represent capsules is the btMultiSphereShape
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShape : public btConvexInternalShape
{
protected:
///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
btCapsuleShape() {};
public:
btCapsuleShape(btScalar radius,btScalar height);
///CollisionShape Interface
virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
/// btConvexShape Interface
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual const char* getName()const
{
return "CapsuleShape";
}
virtual int getUpAxis() const
{
return 1;
}
virtual btScalar getRadius() const
{
return m_implicitShapeDimensions.getX();
}
virtual btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getY();
}
};
///btCapsuleShapeX represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeX : public btCapsuleShape
{
public:
btCapsuleShapeX(btScalar radius,btScalar height);
virtual int getUpAxis() const
{
return 0;
}
//debugging
virtual const char* getName()const
{
return "CapsuleX";
}
virtual btScalar getRadius() const
{
return m_implicitShapeDimensions.getY();
}
virtual btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getX();
}
};
///btCapsuleShapeZ represents a capsule around the Z axis
///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
class btCapsuleShapeZ : public btCapsuleShape
{
public:
btCapsuleShapeZ(btScalar radius,btScalar height);
virtual int getUpAxis() const
{
return 2;
}
//debugging
virtual const char* getName()const
{
return "CapsuleZ";
}
virtual btScalar getRadius() const
{
return m_implicitShapeDimensions.getX();
}
virtual btScalar getHalfHeight() const
{
return m_implicitShapeDimensions.getZ();
}
};
#endif //BT_CAPSULE_SHAPE_H