diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h | 78 |
1 files changed, 69 insertions, 9 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h index 27da8adefa5..d4b046d40c9 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h @@ -16,20 +16,27 @@ subject to the following restrictions: #ifndef BT_CAPSULE_SHAPE_H #define BT_CAPSULE_SHAPE_H -#include "btConvexShape.h" -#include "../BroadphaseCollision/btBroadphaseProxy.h" // for the types +#include "btConvexInternalShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types -///btCapsuleShape represents a capsule around the Y axis -///A more general solution that can represent capsules is the btMultiSphereShape -class btCapsuleShape : public btConvexShape +///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() {}; public: btCapsuleShape(btScalar radius,btScalar height); ///CollisionShape Interface - virtual void calculateLocalInertia(btScalar mass,btVector3& inertia); + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; /// btConvexShape Interface virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; @@ -38,21 +45,74 @@ public: virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; } - virtual char* getName()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(); + btPoint3 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 { - return m_implicitShapeDimensions.getX(); + int radiusAxis = (m_upAxis+2)%3; + return m_implicitShapeDimensions[radiusAxis]; } btScalar getHalfHeight() const { - return m_implicitShapeDimensions.getY(); + return m_implicitShapeDimensions[m_upAxis]; + } + +}; + +///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"; + } + + }; |