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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.
*/
#ifndef CONE_MINKOWSKI_H
#define CONE_MINKOWSKI_H
#include "ConvexShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
/// implements cone shape interface
class ConeShape : public ConvexShape
{
float m_sinAngle;
float m_radius;
float m_height;
SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
public:
ConeShape (SimdScalar radius,SimdScalar height);
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
SimdTransform identity;
identity.setIdentity();
SimdVector3 aabbMin,aabbMax;
GetAabb(identity,aabbMin,aabbMax);
SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
float margin = GetMargin();
SimdScalar lx=2.f*(halfExtents.x()+margin);
SimdScalar ly=2.f*(halfExtents.y()+margin);
SimdScalar lz=2.f*(halfExtents.z()+margin);
const SimdScalar x2 = lx*lx;
const SimdScalar y2 = ly*ly;
const SimdScalar z2 = lz*lz;
const SimdScalar scaledmass = mass * 0.08333333f;
inertia = scaledmass * (SimdVector3(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
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