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/*
* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
*
* 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 "CylinderShape.h"
#include "SimdPoint3.h"
CylinderShape::CylinderShape (const SimdVector3& halfExtents)
:BoxShape(halfExtents)
{
}
CylinderShapeX::CylinderShapeX (const SimdVector3& halfExtents)
:CylinderShape(halfExtents)
{
}
CylinderShapeZ::CylinderShapeZ (const SimdVector3& halfExtents)
:CylinderShape(halfExtents)
{
}
SimdVector3 CylinderLocalSupportX(const SimdVector3& halfExtents,const SimdVector3& v)
{
const int cylinderUpAxis = 0;
const int XX = 1;
const int YY = 0;
const int ZZ = 2;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
SimdVector3 tmp;
SimdScalar d ;
SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != SimdScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = SimdScalar(0.0);
return tmp;
}
}
SimdVector3 CylinderLocalSupportY(const SimdVector3& halfExtents,const SimdVector3& v)
{
const int cylinderUpAxis = 1;
const int XX = 0;
const int YY = 1;
const int ZZ = 2;
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
SimdVector3 tmp;
SimdScalar d ;
SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != SimdScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = SimdScalar(0.0);
return tmp;
}
}
SimdVector3 CylinderLocalSupportZ(const SimdVector3& halfExtents,const SimdVector3& v)
{
const int cylinderUpAxis = 2;
const int XX = 0;
const int YY = 2;
const int ZZ = 1;
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
float radius = halfExtents[XX];
float halfHeight = halfExtents[cylinderUpAxis];
SimdVector3 tmp;
SimdScalar d ;
SimdScalar s = sqrtf(v[XX] * v[XX] + v[ZZ] * v[ZZ]);
if (s != SimdScalar(0.0))
{
d = radius / s;
tmp[XX] = v[XX] * d;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = v[ZZ] * d;
return tmp;
}
else
{
tmp[XX] = radius;
tmp[YY] = v[YY] < 0.0 ? -halfHeight : halfHeight;
tmp[ZZ] = SimdScalar(0.0);
return tmp;
}
}
SimdVector3 CylinderShapeX::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
return CylinderLocalSupportX(GetHalfExtents(),vec);
}
SimdVector3 CylinderShapeZ::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
return CylinderLocalSupportZ(GetHalfExtents(),vec);
}
SimdVector3 CylinderShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
{
return CylinderLocalSupportY(GetHalfExtents(),vec);
}
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