btConeShape.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
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_CONE_MINKOWSKI_H
#define BT_CONE_MINKOWSKI_H
 
#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"  // for the types
 
ATTRIBUTE_ALIGNED16(class)
btConeShape : public btConvexInternalShape
 
{
        btScalar m_sinAngle;
        btScalar m_radius;
        btScalar m_height;
        int m_coneIndices[3];
        btVector3 coneLocalSupport(const btVector3& v) const;
 
public:
        BT_DECLARE_ALIGNED_ALLOCATOR();
 
        btConeShape(btScalar radius, btScalar height);
 
        virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
        virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
        virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors, btVector3* supportVerticesOut, int numVectors) const;
 
        btScalar getRadius() const { return m_radius; }
        btScalar getHeight() const { return m_height; }
 
        void setRadius(const btScalar radius)
        {
                m_radius = radius;
        }
        void setHeight(const btScalar height)
        {
                m_height = height;
        }
 
        virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const
        {
                btTransform identity;
                identity.setIdentity();
                btVector3 aabbMin, aabbMax;
                getAabb(identity, aabbMin, aabbMax);
 
                btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
 
                btScalar margin = getMargin();
 
                btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
                btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
                btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
                const btScalar x2 = lx * lx;
                const btScalar y2 = ly * ly;
                const btScalar z2 = lz * lz;
                const btScalar scaledmass = mass * btScalar(0.08333333);
 
                inertia = scaledmass * (btVector3(y2 + z2, x2 + z2, x2 + y2));
 
                //              inertia.x() = scaledmass * (y2+z2);
                //              inertia.y() = scaledmass * (x2+z2);
                //              inertia.z() = scaledmass * (x2+y2);
        }
 
        virtual const char* getName() const
        {
                return "Cone";
        }
 
        void setConeUpIndex(int upIndex);
 
        int getConeUpIndex() const
        {
                return m_coneIndices[1];
        }
 
        virtual btVector3 getAnisotropicRollingFrictionDirection() const
        {
                return btVector3(0, 1, 0);
        }
 
        virtual void setLocalScaling(const btVector3& scaling);
 
        virtual int calculateSerializeBufferSize() const;
 
        virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
 
class btConeShapeX : public btConeShape
{
public:
        btConeShapeX(btScalar radius, btScalar height);
 
        virtual btVector3 getAnisotropicRollingFrictionDirection() const
        {
                return btVector3(1, 0, 0);
        }
 
        //debugging
        virtual const char* getName() const
        {
                return "ConeX";
        }
};
 
class btConeShapeZ : public btConeShape
{
public:
        btConeShapeZ(btScalar radius, btScalar height);
 
        virtual btVector3 getAnisotropicRollingFrictionDirection() const
        {
                return btVector3(0, 0, 1);
        }
 
        //debugging
        virtual const char* getName() const
        {
                return "ConeZ";
        }
};
 
struct btConeShapeData
{
        btConvexInternalShapeData m_convexInternalShapeData;
 
        int m_upIndex;
 
        char m_padding[4];
};
 
SIMD_FORCE_INLINE int btConeShape::calculateSerializeBufferSize() const
{
        return sizeof(btConeShapeData);
}
 
SIMD_FORCE_INLINE const char* btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
        btConeShapeData* shapeData = (btConeShapeData*)dataBuffer;
 
        btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
 
        shapeData->m_upIndex = m_coneIndices[1];
 
        // Fill padding with zeros to appease msan.
        shapeData->m_padding[0] = 0;
        shapeData->m_padding[1] = 0;
        shapeData->m_padding[2] = 0;
        shapeData->m_padding[3] = 0;
 
        return "btConeShapeData";
}
 
#endif  //BT_CONE_MINKOWSKI_H