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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h')
-rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h | 83 |
1 files changed, 83 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h new file mode 100644 index 00000000000..0fd3ce177fe --- /dev/null +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.h @@ -0,0 +1,83 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +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 CONE_MINKOWSKI_H +#define CONE_MINKOWSKI_H + +#include "btConvexShape.h" +#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types + +/// implements cone shape interface +class btConeShape : public btConvexShape + +{ + + float m_sinAngle; + float m_radius; + float m_height; + + btVector3 coneLocalSupport(const btVector3& v) const; + + +public: + 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; + + float getRadius() const { return m_radius;} + float getHeight() const { return m_height;} + + + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) + { + btTransform identity; + identity.setIdentity(); + btVector3 aabbMin,aabbMax; + getAabb(identity,aabbMin,aabbMax); + + btVector3 halfExtents = (aabbMax-aabbMin)*0.5f; + + float margin = getMargin(); + + btScalar lx=2.f*(halfExtents.x()+margin); + btScalar ly=2.f*(halfExtents.y()+margin); + btScalar lz=2.f*(halfExtents.z()+margin); + const btScalar x2 = lx*lx; + const btScalar y2 = ly*ly; + const btScalar z2 = lz*lz; + const btScalar scaledmass = mass * 0.08333333f; + + 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 int getShapeType() const { return CONE_SHAPE_PROXYTYPE; } + + virtual char* getName()const + { + return "Cone"; + } +}; + + +#endif //CONE_MINKOWSKI_H + |