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