== SoC Bullet - Bullet Upgrade to 2.76 ==
[blender.git] / extern / bullet2 / BulletCollision / CollisionShapes / btCapsuleShape.h
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose, 
8 including commercial applications, and to alter it and redistribute it freely, 
9 subject to the following restrictions:
10
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_CAPSULE_SHAPE_H
17 #define BT_CAPSULE_SHAPE_H
18
19 #include "btConvexInternalShape.h"
20 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
21
22
23 ///The btCapsuleShape represents a capsule around the Y axis, there is also the btCapsuleShapeX aligned around the X axis and btCapsuleShapeZ around the Z axis.
24 ///The total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
25 ///The btCapsuleShape is a convex hull of two spheres. The btMultiSphereShape is a more general collision shape that takes the convex hull of multiple sphere, so it can also represent a capsule when just using two spheres.
26 class btCapsuleShape : public btConvexInternalShape
27 {
28 protected:
29         int     m_upAxis;
30
31 protected:
32         ///only used for btCapsuleShapeZ and btCapsuleShapeX subclasses.
33         btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};
34
35 public:
36         btCapsuleShape(btScalar radius,btScalar height);
37
38         ///CollisionShape Interface
39         virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;
40
41         /// btConvexShape Interface
42         virtual btVector3       localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
43
44         virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
45         
46         virtual void setMargin(btScalar collisionMargin)
47         {
48                 //correct the m_implicitShapeDimensions for the margin
49                 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
50                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
51                 
52                 btConvexInternalShape::setMargin(collisionMargin);
53                 btVector3 newMargin(getMargin(),getMargin(),getMargin());
54                 m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
55
56         }
57
58         virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
59         {
60                         btVector3 halfExtents(getRadius(),getRadius(),getRadius());
61                         halfExtents[m_upAxis] = getRadius() + getHalfHeight();
62                         halfExtents += btVector3(getMargin(),getMargin(),getMargin());
63                         btMatrix3x3 abs_b = t.getBasis().absolute();  
64                         btVector3 center = t.getOrigin();
65                         btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));              
66                         
67                         aabbMin = center - extent;
68                         aabbMax = center + extent;
69         }
70
71         virtual const char*     getName()const 
72         {
73                 return "CapsuleShape";
74         }
75
76         int     getUpAxis() const
77         {
78                 return m_upAxis;
79         }
80
81         btScalar        getRadius() const
82         {
83                 int radiusAxis = (m_upAxis+2)%3;
84                 return m_implicitShapeDimensions[radiusAxis];
85         }
86
87         btScalar        getHalfHeight() const
88         {
89                 return m_implicitShapeDimensions[m_upAxis];
90         }
91
92         virtual void    setLocalScaling(const btVector3& scaling)
93         {
94                 btVector3 oldMargin(getMargin(),getMargin(),getMargin());
95                 btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
96                 btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
97
98                 btConvexInternalShape::setLocalScaling(scaling);
99
100                 m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
101
102         }
103
104         virtual int     calculateSerializeBufferSize() const;
105
106         ///fills the dataBuffer and returns the struct name (and 0 on failure)
107         virtual const char*     serialize(void* dataBuffer, btSerializer* serializer) const;
108
109
110 };
111
112 ///btCapsuleShapeX represents a capsule around the Z axis
113 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
114 class btCapsuleShapeX : public btCapsuleShape
115 {
116 public:
117
118         btCapsuleShapeX(btScalar radius,btScalar height);
119                 
120         //debugging
121         virtual const char*     getName()const
122         {
123                 return "CapsuleX";
124         }
125
126         
127
128 };
129
130 ///btCapsuleShapeZ represents a capsule around the Z axis
131 ///the total height is height+2*radius, so the height is just the height between the center of each 'sphere' of the capsule caps.
132 class btCapsuleShapeZ : public btCapsuleShape
133 {
134 public:
135         btCapsuleShapeZ(btScalar radius,btScalar height);
136
137                 //debugging
138         virtual const char*     getName()const
139         {
140                 return "CapsuleZ";
141         }
142
143         
144 };
145
146 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
147 struct  btCapsuleShapeData
148 {
149         btConvexInternalShapeData       m_convexInternalShapeData;
150
151         int     m_upAxis;
152
153         char    m_padding[4];
154 };
155
156 SIMD_FORCE_INLINE       int     btCapsuleShape::calculateSerializeBufferSize() const
157 {
158         return sizeof(btCapsuleShapeData);
159 }
160
161         ///fills the dataBuffer and returns the struct name (and 0 on failure)
162 SIMD_FORCE_INLINE       const char*     btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
163 {
164         btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
165         
166         btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
167
168         shapeData->m_upAxis = m_upAxis;
169         
170         return "btCapsuleShapeData";
171 }
172
173 #endif //BT_CAPSULE_SHAPE_H