btCapsuleShape.h

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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org

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.
*/

#ifndef BT_CAPSULE_SHAPE_H
#define BT_CAPSULE_SHAPE_H

#include "btConvexInternalShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types


class btCapsuleShape : public btConvexInternalShape
{
protected:
    int m_upAxis;

protected:
    btCapsuleShape() : btConvexInternalShape() {m_shapeType = CAPSULE_SHAPE_PROXYTYPE;};

public:
    btCapsuleShape(btScalar radius,btScalar height);

    virtual void    calculateLocalInertia(btScalar mass,btVector3& inertia) const;

    virtual btVector3   localGetSupportingVertexWithoutMargin(const btVector3& vec)const;

    virtual void    batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
    
    virtual void setMargin(btScalar collisionMargin)
    {
        //correct the m_implicitShapeDimensions for the margin
        btVector3 oldMargin(getMargin(),getMargin(),getMargin());
        btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
        
        btConvexInternalShape::setMargin(collisionMargin);
        btVector3 newMargin(getMargin(),getMargin(),getMargin());
        m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;

    }

    virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
    {
            btVector3 halfExtents(getRadius(),getRadius(),getRadius());
            halfExtents[m_upAxis] = getRadius() + getHalfHeight();
            halfExtents += btVector3(getMargin(),getMargin(),getMargin());
            btMatrix3x3 abs_b = t.getBasis().absolute();  
            btVector3 center = t.getOrigin();
            btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));          
            
            aabbMin = center - extent;
            aabbMax = center + extent;
    }

    virtual const char* getName()const 
    {
        return "CapsuleShape";
    }

    int getUpAxis() const
    {
        return m_upAxis;
    }

    btScalar    getRadius() const
    {
        int radiusAxis = (m_upAxis+2)%3;
        return m_implicitShapeDimensions[radiusAxis];
    }

    btScalar    getHalfHeight() const
    {
        return m_implicitShapeDimensions[m_upAxis];
    }

    virtual void    setLocalScaling(const btVector3& scaling)
    {
        btVector3 oldMargin(getMargin(),getMargin(),getMargin());
        btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
        btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;

        btConvexInternalShape::setLocalScaling(scaling);

        m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;

    }

    virtual int calculateSerializeBufferSize() const;

    virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;


};

class btCapsuleShapeX : public btCapsuleShape
{
public:

    btCapsuleShapeX(btScalar radius,btScalar height);
        
    //debugging
    virtual const char* getName()const
    {
        return "CapsuleX";
    }

    

};

class btCapsuleShapeZ : public btCapsuleShape
{
public:
    btCapsuleShapeZ(btScalar radius,btScalar height);

        //debugging
    virtual const char* getName()const
    {
        return "CapsuleZ";
    }

    
};

struct  btCapsuleShapeData
{
    btConvexInternalShapeData   m_convexInternalShapeData;

    int m_upAxis;

    char    m_padding[4];
};

SIMD_FORCE_INLINE   int btCapsuleShape::calculateSerializeBufferSize() const
{
    return sizeof(btCapsuleShapeData);
}

SIMD_FORCE_INLINE   const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
    btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
    
    btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);

    shapeData->m_upAxis = m_upAxis;
    
    return "btCapsuleShapeData";
}

#endif //BT_CAPSULE_SHAPE_H