forked from bartvdbraak/blender
45d0123a59
- broadphase had bugs in removing objects, - persistent manifold renamed value, - cylinder penetration depth fixed, - memory leak for persistent manifold
197 lines
4.8 KiB
C++
197 lines
4.8 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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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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inline 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 = SimdSqrt(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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inline 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 = SimdSqrt(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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inline 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 = SimdSqrt(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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void CylinderShape::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i] = CylinderLocalSupportY(GetHalfExtents(),vectors[i]);
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}
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}
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void CylinderShapeZ::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i] = CylinderLocalSupportZ(GetHalfExtents(),vectors[i]);
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}
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}
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void CylinderShapeX::BatchedUnitVectorGetSupportingVertexWithoutMargin(const SimdVector3* vectors,SimdVector3* supportVerticesOut,int numVectors) const
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{
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for (int i=0;i<numVectors;i++)
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{
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supportVerticesOut[i] = CylinderLocalSupportX(GetHalfExtents(),vectors[i]);
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}
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}
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