forked from bartvdbraak/blender
281f236e6e
- on Ton's request use double versions of cos,sin,tan, sqrt etc. just like Solid in MT_Scalar #if defined (__sun) || defined (__sun__) || defined (__sparc) || defined (__APPLE__) - updated an url in the header of files
85 lines
2.1 KiB
C++
85 lines
2.1 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#ifndef CYLINDER_MINKOWSKI_H
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#define CYLINDER_MINKOWSKI_H
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#include "BoxShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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#include "SimdVector3.h"
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/// implements cylinder shape interface
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class CylinderShape : public BoxShape
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{
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public:
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CylinderShape (const SimdVector3& halfExtents);
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///GetAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
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void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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GetAabbSlow(t,aabbMin,aabbMax);
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}
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const
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{
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SimdVector3 supVertex;
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supVertex = LocalGetSupportingVertexWithoutMargin(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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//use box inertia
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// virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
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virtual int GetShapeType() const
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{
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return CYLINDER_SHAPE_PROXYTYPE;
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}
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};
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class CylinderShapeX : public CylinderShape
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{
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public:
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CylinderShapeX (const SimdVector3& halfExtents);
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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};
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class CylinderShapeZ : public CylinderShape
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{
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public:
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CylinderShapeZ (const SimdVector3& halfExtents);
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const;
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};
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#endif //CYLINDER_MINKOWSKI_H
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