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