| /* |
| 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_CAPSULE_SHAPE_H |
| #define BT_CAPSULE_SHAPE_H |
| |
| #include "btConvexInternalShape.h" |
| #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types |
| |
| |
| ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis. |
| ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. |
| ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres. |
| class btCapsuleShape : public btConvexInternalShape |
| { |
| protected: |
| int m_upAxis; |
| |
| protected: |
| ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses. |
| btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;}; |
| |
| public: |
| btCapsuleShape(btScalar radius,btScalar height); |
| |
| ///CollisionShape Interface |
| virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; |
| |
| /// btConvexShape Interface |
| virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; |
| |
| virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; |
| |
| virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const |
| { |
| btVector3 halfExtents(getRadius(),getRadius(),getRadius()); |
| halfExtents[m_upAxis] = getRadius() + getHalfHeight(); |
| halfExtents += btVector3(getMargin(),getMargin(),getMargin()); |
| btMatrix3x3 abs_b = t.getBasis().absolute(); |
| btVector3 center = t.getOrigin(); |
| btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents)); |
| |
| aabbMin = center - extent; |
| aabbMax = center + extent; |
| } |
| |
| virtual const char* getName()const |
| { |
| return "CapsuleShape"; |
| } |
| |
| int getUpAxis() const |
| { |
| return m_upAxis; |
| } |
| |
| btScalar getRadius() const |
| { |
| int radiusAxis = (m_upAxis+2)%3; |
| return m_implicitShapeDimensions[radiusAxis]; |
| } |
| |
| btScalar getHalfHeight() const |
| { |
| return m_implicitShapeDimensions[m_upAxis]; |
| } |
| |
| virtual void setLocalScaling(const btVector3& scaling) |
| { |
| btVector3 oldMargin(getMargin(),getMargin(),getMargin()); |
| btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; |
| btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling; |
| |
| btConvexInternalShape::setLocalScaling(scaling); |
| |
| m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin; |
| |
| } |
| }; |
| |
| ///btCapsuleShapeX represents a capsule around the Z axis |
| ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. |
| class btCapsuleShapeX : public btCapsuleShape |
| { |
| public: |
| |
| btCapsuleShapeX(btScalar radius,btScalar height); |
| |
| //debugging |
| virtual const char* getName()const |
| { |
| return "CapsuleX"; |
| } |
| |
| |
| |
| }; |
| |
| ///btCapsuleShapeZ represents a capsule around the Z axis |
| ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps. |
| class btCapsuleShapeZ : public btCapsuleShape |
| { |
| public: |
| btCapsuleShapeZ(btScalar radius,btScalar height); |
| |
| //debugging |
| virtual const char* getName()const |
| { |
| return "CapsuleZ"; |
| } |
| |
| |
| }; |
| |
| |
| |
| #endif //BT_CAPSULE_SHAPE_H |