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