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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "ConeShape.h"
#include "SimdPoint3.h"
#ifdef WIN32
static int coneindices[3] = {1,2,0};
#else
static int coneindices[3] = {2,1,0};
#endif
ConeShape::ConeShape (SimdScalar radius,SimdScalar height):
m_radius (radius),
m_height(height)
{
SimdVector3 halfExtents;
m_sinAngle = (m_radius / sqrt(m_radius * m_radius + m_height * m_height));
}
SimdVector3 ConeShape::ConeLocalSupport(const SimdVector3& v) const
{
float halfHeight = m_height * 0.5f;
if (v[coneindices[1]] > v.length() * m_sinAngle)
{
SimdVector3 tmp;
tmp[coneindices[0]] = 0.f;
tmp[coneindices[1]] = halfHeight;
tmp[coneindices[2]] = 0.f;
return tmp;
}
else {
SimdScalar s = SimdSqrt(v[coneindices[0]] * v[coneindices[0]] + v[coneindices[2]] * v[coneindices[2]]);
if (s > SIMD_EPSILON) {
SimdScalar d = m_radius / s;
SimdVector3 tmp;
tmp[coneindices[0]] = v[coneindices[0]] * d;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = v[coneindices[2]] * d;
return tmp;
}
else {
SimdVector3 tmp;
tmp[coneindices[0]] = 0.f;
tmp[coneindices[1]] = -halfHeight;
tmp[coneindices[2]] = 0.f;
return tmp;
}
}
}
SimdVector3 ConeShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const
{
return ConeLocalSupport(vec);
}
SimdVector3 ConeShape::LocalGetSupportingVertex(const SimdVector3& vec) const
{
SimdVector3 supVertex = ConeLocalSupport(vec);
if ( GetMargin()!=0.f )
{
SimdVector3 vecnorm = vec;
if (vecnorm .length2() == 0.f)
{
vecnorm.setValue(-1.f,-1.f,-1.f);
}
vecnorm.normalize();
supVertex+= GetMargin() * vecnorm;
}
return supVertex;
}
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