forked from bartvdbraak/blender
73 lines
1.9 KiB
C++
73 lines
1.9 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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#ifndef CONE_MINKOWSKI_H
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#define CONE_MINKOWSKI_H
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#include "ConvexShape.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" // for the types
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/// implements cone shape interface
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class ConeShape : public ConvexShape
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{
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float m_sinAngle;
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float m_radius;
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float m_height;
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SimdVector3 ConeLocalSupport(const SimdVector3& v) const;
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public:
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ConeShape (SimdScalar radius,SimdScalar height);
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virtual SimdVector3 LocalGetSupportingVertex(const SimdVector3& vec) const;
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virtual SimdVector3 LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec) const;
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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SimdTransform identity;
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identity.setIdentity();
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SimdVector3 aabbMin,aabbMax;
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GetAabb(identity,aabbMin,aabbMax);
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SimdVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
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float margin = GetMargin();
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SimdScalar lx=2.f*(halfExtents.x()+margin);
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SimdScalar ly=2.f*(halfExtents.y()+margin);
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SimdScalar lz=2.f*(halfExtents.z()+margin);
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const SimdScalar x2 = lx*lx;
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const SimdScalar y2 = ly*ly;
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const SimdScalar z2 = lz*lz;
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const SimdScalar scaledmass = mass * 0.08333333f;
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inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
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// inertia.x() = scaledmass * (y2+z2);
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// inertia.y() = scaledmass * (x2+z2);
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// inertia.z() = scaledmass * (x2+y2);
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}
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virtual int GetShapeType() const { return CONE_SHAPE_PROXYTYPE; }
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virtual char* GetName()const
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{
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return "Cone";
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}
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};
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#endif //CONE_MINKOWSKI_H
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