2f1014268b
1) add AabbCaching versions of btPolyhedralConvexShape and btMultiSphereShape (this speeds up btMultiSphereShape 'getAabb', and reduces size of btBoxShape) 2) btCylinderShape doesn't derive from btBoxShape anymore + Minor fixes in drawing for btMultiSphereShape, btBoxShape. + Don't re-generate btDebugFont every frame + Disabled velocity prediction for btDbvtBroadphase. Previous default can be restored using btDbvtBroadphase->setVelocityPrediction(1./2.);
162 lines
4.5 KiB
C++
162 lines
4.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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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 CYLINDER_MINKOWSKI_H
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#define CYLINDER_MINKOWSKI_H
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#include "btBoxShape.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
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#include "LinearMath/btVector3.h"
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/// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis.
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class btCylinderShape : public btConvexInternalShape
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{
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protected:
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int m_upAxis;
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public:
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btVector3 getHalfExtentsWithMargin() const
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{
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btVector3 halfExtents = getHalfExtentsWithoutMargin();
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btVector3 margin(getMargin(),getMargin(),getMargin());
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halfExtents += margin;
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return halfExtents;
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}
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const btVector3& getHalfExtentsWithoutMargin() const
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{
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return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
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}
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btCylinderShape (const btVector3& halfExtents);
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void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
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virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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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 setMargin(btScalar collisionMargin)
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{
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//correct the m_implicitShapeDimensions for the margin
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btVector3 oldMargin(getMargin(),getMargin(),getMargin());
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btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
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btConvexInternalShape::setMargin(collisionMargin);
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btVector3 newMargin(getMargin(),getMargin(),getMargin());
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m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
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}
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virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
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{
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btVector3 supVertex;
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supVertex = localGetSupportingVertexWithoutMargin(vec);
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if ( getMargin()!=btScalar(0.) )
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{
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btVector3 vecnorm = vec;
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if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
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{
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vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
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}
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vecnorm.normalize();
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supVertex+= getMargin() * vecnorm;
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}
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return supVertex;
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}
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//use box inertia
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// virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
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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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virtual btScalar getRadius() const
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{
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return getHalfExtentsWithMargin().getX();
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}
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//debugging
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virtual const char* getName()const
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{
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return "CylinderY";
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}
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};
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class btCylinderShapeX : public btCylinderShape
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{
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public:
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btCylinderShapeX (const btVector3& halfExtents);
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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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//debugging
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virtual const char* getName()const
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{
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return "CylinderX";
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}
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virtual btScalar getRadius() const
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{
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return getHalfExtentsWithMargin().getY();
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}
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};
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class btCylinderShapeZ : public btCylinderShape
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{
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public:
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btCylinderShapeZ (const btVector3& halfExtents);
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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 int getUpAxis() const
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{
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return 2;
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}
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//debugging
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virtual const char* getName()const
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{
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return "CylinderZ";
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}
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virtual btScalar getRadius() const
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{
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return getHalfExtentsWithMargin().getX();
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}
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};
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#endif //CYLINDER_MINKOWSKI_H
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