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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
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@@ -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);
}