diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h | 80 |
1 files changed, 73 insertions, 7 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h index bda74a8612d..f7899265d31 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCylinderShape.h @@ -1,6 +1,6 @@ /* Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ +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. @@ -21,7 +21,7 @@ subject to the following restrictions: #include "LinearMath/btVector3.h" /// The btCylinderShape class implements a cylinder shape primitive, centered around the origin. Its central axis aligned with the Y axis. btCylinderShapeX is aligned with the X axis and btCylinderShapeZ around the Z axis. -class btCylinderShape : public btBoxShape +class btCylinderShape : public btConvexInternalShape { @@ -30,15 +30,42 @@ protected: int m_upAxis; public: + + btVector3 getHalfExtentsWithMargin() const + { + btVector3 halfExtents = getHalfExtentsWithoutMargin(); + btVector3 margin(getMargin(),getMargin(),getMargin()); + halfExtents += margin; + return halfExtents; + } + + const btVector3& getHalfExtentsWithoutMargin() const + { + return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included + } + btCylinderShape (const btVector3& halfExtents); - ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const; + virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; + virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; + virtual void setMargin(btScalar collisionMargin) + { + //correct the m_implicitShapeDimensions for the margin + btVector3 oldMargin(getMargin(),getMargin(),getMargin()); + btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin; + + btConvexInternalShape::setMargin(collisionMargin); + btVector3 newMargin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin; + + } + virtual btVector3 localGetSupportingVertex(const btVector3& vec) const { @@ -73,13 +100,28 @@ public: return getHalfExtentsWithMargin().getX(); } + 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; + + } + //debugging virtual const char* getName()const { return "CylinderY"; } + virtual int calculateSerializeBufferSize() const; + ///fills the dataBuffer and returns the struct name (and 0 on failure) + virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const; }; @@ -112,10 +154,6 @@ public: virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const; virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const; - virtual int getUpAxis() const - { - return 2; - } //debugging virtual const char* getName()const { @@ -129,6 +167,34 @@ public: }; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btCylinderShapeData +{ + btConvexInternalShapeData m_convexInternalShapeData; + + int m_upAxis; + + char m_padding[4]; +}; + +SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const +{ + return sizeof(btCylinderShapeData); +} + + ///fills the dataBuffer and returns the struct name (and 0 on failure) +SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const +{ + btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer; + + btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer); + + shapeData->m_upAxis = m_upAxis; + + return "btCylinderShapeData"; +} + + #endif //CYLINDER_MINKOWSKI_H |