149 lines
3.8 KiB
C++
149 lines
3.8 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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#include "btCapsuleShape.h"
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#include "LinearMath/btQuaternion.h"
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btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape()
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{
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m_collisionMargin = radius;
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m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
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m_upAxis = 1;
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m_implicitShapeDimensions.setValue(radius, 0.5f * height, radius);
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}
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btVector3 btCapsuleShape::localGetSupportingVertexWithoutMargin(const btVector3& vec0) const
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{
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btVector3 supVec(0, 0, 0);
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
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btVector3 vec = vec0;
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btScalar lenSqr = vec.length2();
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if (lenSqr < btScalar(0.0001))
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{
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vec.setValue(1, 0, 0);
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}
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else
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{
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btScalar rlen = btScalar(1.) / btSqrt(lenSqr);
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vec *= rlen;
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}
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0, 0, 0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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{
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btVector3 pos(0, 0, 0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supVec = vtx;
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}
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}
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return supVec;
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}
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void btCapsuleShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const
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{
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for (int j = 0; j < numVectors; j++)
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{
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btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
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const btVector3& vec = vectors[j];
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btVector3 vtx;
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btScalar newDot;
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{
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btVector3 pos(0, 0, 0);
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pos[getUpAxis()] = getHalfHeight();
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vtx = pos;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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}
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}
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{
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btVector3 pos(0, 0, 0);
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pos[getUpAxis()] = -getHalfHeight();
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vtx = pos;
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newDot = vec.dot(vtx);
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if (newDot > maxDot)
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{
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maxDot = newDot;
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supportVerticesOut[j] = vtx;
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}
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}
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}
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}
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void btCapsuleShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
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{
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//as an approximation, take the inertia of the box that bounds the spheres
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btTransform ident;
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ident.setIdentity();
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btScalar radius = getRadius();
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btVector3 halfExtents(radius, radius, radius);
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halfExtents[getUpAxis()] += getHalfHeight();
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btScalar lx = btScalar(2.) * (halfExtents[0]);
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btScalar ly = btScalar(2.) * (halfExtents[1]);
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btScalar lz = btScalar(2.) * (halfExtents[2]);
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const btScalar x2 = lx * lx;
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const btScalar y2 = ly * ly;
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const btScalar z2 = lz * lz;
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const btScalar scaledmass = mass * btScalar(.08333333);
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inertia[0] = scaledmass * (y2 + z2);
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inertia[1] = scaledmass * (x2 + z2);
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inertia[2] = scaledmass * (x2 + y2);
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}
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btCapsuleShapeX::btCapsuleShapeX(btScalar radius, btScalar height)
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{
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m_collisionMargin = radius;
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m_upAxis = 0;
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m_implicitShapeDimensions.setValue(0.5f * height, radius, radius);
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}
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btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius, btScalar height)
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{
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m_collisionMargin = radius;
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m_upAxis = 2;
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m_implicitShapeDimensions.setValue(radius, radius, 0.5f * height);
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}
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