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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 CYLINDER_MINKOWSKI_H
#define CYLINDER_MINKOWSKI_H
#include "BoxShape.h"
#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
#include "SimdVector3.h"
/// implements cylinder shape interface
class CylinderShape : public BoxShape
{
public:
CylinderShape (const SimdVector3& halfExtents);
///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
{
GetAabbSlow(t,aabbMin,aabbMax);
}
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
{
SimdVector3 supVertex;
supVertex = LocalGetSupportingVertexWithoutMargin(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;
}
//use box inertia
// virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
virtual int GetShapeType() const
{
return CYLINDER_SHAPE_PROXYTYPE;
}
};
class CylinderShapeX : public CylinderShape
{
public:
CylinderShapeX (const SimdVector3& halfExtents);
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
};
class CylinderShapeZ : public CylinderShape
{
public:
CylinderShapeZ (const SimdVector3& halfExtents);
virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
};
#endif //CYLINDER_MINKOWSKI_H
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