/*
|
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
|
*
|
* Bullet Continuous Collision Detection and Physics Library
|
* Copyright (c) 2003-2008 Erwin Coumans http://www.bulletphysics.com/
|
*
|
* This software is provided 'as-is', without any express or implied warranty.
|
* In no event will the authors be held liable for any damages arising from
|
* the use of this software.
|
*
|
* Permission is granted to anyone to use this software for any purpose,
|
* including commercial applications, and to alter it and redistribute it
|
* freely, subject to the following restrictions:
|
*
|
* 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.
|
* 2. Altered source versions must be plainly marked as such, and must not be
|
* misrepresented as being the original software.
|
* 3. This notice may not be removed or altered from any source distribution.
|
*/
|
|
package com.bulletphysics.collision.shapes;
|
|
import com.bulletphysics.BulletGlobals;
|
import com.bulletphysics.collision.broadphase.BroadphaseNativeType;
|
import com.bulletphysics.linearmath.Transform;
|
import com.bulletphysics.linearmath.VectorUtil;
|
import cz.advel.stack.Stack;
|
import javax.vecmath.Vector3f;
|
|
/**
|
* CylinderShape class implements a cylinder shape primitive, centered around
|
* the origin. Its central axis aligned with the Y axis. {@link CylinderShapeX}
|
* is aligned with the X axis and {@link CylinderShapeZ} around the Z axis.
|
*
|
* @author jezek2
|
*/
|
public class CylinderShape extends BoxShape {
|
|
protected int upAxis;
|
|
public CylinderShape(Vector3f halfExtents) {
|
super(halfExtents);
|
upAxis = 1;
|
recalcLocalAabb();
|
}
|
|
protected CylinderShape(Vector3f halfExtents, boolean unused) {
|
super(halfExtents);
|
}
|
|
@Override
|
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
|
_PolyhedralConvexShape_getAabb(t, aabbMin, aabbMax);
|
}
|
|
protected Vector3f cylinderLocalSupportX(Vector3f halfExtents, Vector3f v, Vector3f out) {
|
return cylinderLocalSupport(halfExtents, v, 0, 1, 0, 2, out);
|
}
|
|
protected Vector3f cylinderLocalSupportY(Vector3f halfExtents, Vector3f v, Vector3f out) {
|
return cylinderLocalSupport(halfExtents, v, 1, 0, 1, 2, out);
|
}
|
|
protected Vector3f cylinderLocalSupportZ(Vector3f halfExtents, Vector3f v, Vector3f out) {
|
return cylinderLocalSupport(halfExtents, v, 2, 0, 2, 1, out);
|
}
|
|
private Vector3f cylinderLocalSupport(Vector3f halfExtents, Vector3f v, int cylinderUpAxis, int XX, int YY, int ZZ, Vector3f out) {
|
//mapping depends on how cylinder local orientation is
|
// extents of the cylinder is: X,Y is for radius, and Z for height
|
|
float radius = VectorUtil.getCoord(halfExtents, XX);
|
float halfHeight = VectorUtil.getCoord(halfExtents, cylinderUpAxis);
|
|
float d;
|
|
float s = (float) Math.sqrt(VectorUtil.getCoord(v, XX) * VectorUtil.getCoord(v, XX) + VectorUtil.getCoord(v, ZZ) * VectorUtil.getCoord(v, ZZ));
|
if (s != 0f) {
|
d = radius / s;
|
VectorUtil.setCoord(out, XX, VectorUtil.getCoord(v, XX) * d);
|
VectorUtil.setCoord(out, YY, VectorUtil.getCoord(v, YY) < 0f ? -halfHeight : halfHeight);
|
VectorUtil.setCoord(out, ZZ, VectorUtil.getCoord(v, ZZ) * d);
|
return out;
|
}
|
else {
|
VectorUtil.setCoord(out, XX, radius);
|
VectorUtil.setCoord(out, YY, VectorUtil.getCoord(v, YY) < 0f ? -halfHeight : halfHeight);
|
VectorUtil.setCoord(out, ZZ, 0f);
|
return out;
|
}
|
}
|
|
@Override
|
public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
|
return cylinderLocalSupportY(getHalfExtentsWithoutMargin(Stack.alloc(Vector3f.class)), vec, out);
|
}
|
|
@Override
|
public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
|
for (int i = 0; i < numVectors; i++) {
|
cylinderLocalSupportY(getHalfExtentsWithoutMargin(Stack.alloc(Vector3f.class)), vectors[i], supportVerticesOut[i]);
|
}
|
}
|
|
@Override
|
public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
|
Vector3f supVertex = out;
|
localGetSupportingVertexWithoutMargin(vec, supVertex);
|
|
if (getMargin() != 0f) {
|
Vector3f vecnorm = (Vector3f) Stack.alloc(vec);
|
if (vecnorm.lengthSquared() < (BulletGlobals.SIMD_EPSILON * BulletGlobals.SIMD_EPSILON)) {
|
vecnorm.set(-1f, -1f, -1f);
|
}
|
vecnorm.normalize();
|
supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
|
}
|
return out;
|
}
|
|
@Override
|
public BroadphaseNativeType getShapeType() {
|
return BroadphaseNativeType.CYLINDER_SHAPE_PROXYTYPE;
|
}
|
|
public int getUpAxis() {
|
return upAxis;
|
}
|
|
public float getRadius() {
|
return getHalfExtentsWithMargin(Stack.alloc(Vector3f.class)).x;
|
}
|
|
@Override
|
public String getName() {
|
return "CylinderY";
|
}
|
|
}
|
