Bullet Collision Detection & Physics Library
btBox2dShape.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_OBB_BOX_2D_SHAPE_H
17 #define BT_OBB_BOX_2D_SHAPE_H
18 
19 #include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
20 #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
21 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
22 #include "LinearMath/btVector3.h"
23 #include "LinearMath/btMinMax.h"
24 
26 ATTRIBUTE_ALIGNED16(class) btBox2dShape: public btPolyhedralConvexShape
27 {
28 
29  //btVector3 m_boxHalfExtents1; //use m_implicitShapeDimensions instead
30 
31  btVector3 m_centroid;
32  btVector3 m_vertices[4];
33  btVector3 m_normals[4];
34 
35 public:
36 
37  BT_DECLARE_ALIGNED_ALLOCATOR();
38 
39  btVector3 getHalfExtentsWithMargin() const
40  {
41  btVector3 halfExtents = getHalfExtentsWithoutMargin();
42  btVector3 margin(getMargin(),getMargin(),getMargin());
43  halfExtents += margin;
44  return halfExtents;
45  }
46 
47  const btVector3& getHalfExtentsWithoutMargin() const
48  {
49  return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
50  }
51 
52 
53  virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
54  {
55  btVector3 halfExtents = getHalfExtentsWithoutMargin();
56  btVector3 margin(getMargin(),getMargin(),getMargin());
57  halfExtents += margin;
58 
59  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
60  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
61  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
62  }
63 
64  SIMD_FORCE_INLINE btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
65  {
66  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
67 
68  return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
69  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
70  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
71  }
72 
73  virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
74  {
75  const btVector3& halfExtents = getHalfExtentsWithoutMargin();
76 
77  for (int i=0;i<numVectors;i++)
78  {
79  const btVector3& vec = vectors[i];
80  supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
81  btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
82  btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
83  }
84 
85  }
86 
87 
89  btBox2dShape( const btVector3& boxHalfExtents)
90  : btPolyhedralConvexShape(),
91  m_centroid(0,0,0)
92  {
93  m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
94  m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
95  m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
96  m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
97 
98  m_normals[0].setValue(0,-1,0);
99  m_normals[1].setValue(1,0,0);
100  m_normals[2].setValue(0,1,0);
101  m_normals[3].setValue(-1,0,0);
102 
103  btScalar minDimension = boxHalfExtents.getX();
104  if (minDimension>boxHalfExtents.getY())
105  minDimension = boxHalfExtents.getY();
106 
107  m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
108  btVector3 margin(getMargin(),getMargin(),getMargin());
109  m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
110 
111  setSafeMargin(minDimension);
112  };
113 
114  virtual void setMargin(btScalar collisionMargin)
115  {
116  //correct the m_implicitShapeDimensions for the margin
117  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
118  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
119 
120  btConvexInternalShape::setMargin(collisionMargin);
121  btVector3 newMargin(getMargin(),getMargin(),getMargin());
122  m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
123 
124  }
125  virtual void setLocalScaling(const btVector3& scaling)
126  {
127  btVector3 oldMargin(getMargin(),getMargin(),getMargin());
128  btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
129  btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
130 
131  btConvexInternalShape::setLocalScaling(scaling);
132 
133  m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
134 
135  }
136 
137  virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
138 
139 
140 
141  virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
142 
143 
144 
145 
146 
147  int getVertexCount() const
148  {
149  return 4;
150  }
151 
152  virtual int getNumVertices()const
153  {
154  return 4;
155  }
156 
157  const btVector3* getVertices() const
158  {
159  return &m_vertices[0];
160  }
161 
162  const btVector3* getNormals() const
163  {
164  return &m_normals[0];
165  }
166 
167 
168 
169 
170 
171 
172 
173  virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
174  {
175  //this plane might not be aligned...
176  btVector4 plane ;
177  getPlaneEquation(plane,i);
178  planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
179  planeSupport = localGetSupportingVertex(-planeNormal);
180  }
181 
182 
183  const btVector3& getCentroid() const
184  {
185  return m_centroid;
186  }
187 
188  virtual int getNumPlanes() const
189  {
190  return 6;
191  }
192 
193 
194 
195  virtual int getNumEdges() const
196  {
197  return 12;
198  }
199 
200 
201  virtual void getVertex(int i,btVector3& vtx) const
202  {
203  btVector3 halfExtents = getHalfExtentsWithoutMargin();
204 
205  vtx = btVector3(
206  halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
207  halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
208  halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
209  }
210 
211 
212  virtual void getPlaneEquation(btVector4& plane,int i) const
213  {
214  btVector3 halfExtents = getHalfExtentsWithoutMargin();
215 
216  switch (i)
217  {
218  case 0:
219  plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
220  break;
221  case 1:
222  plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
223  break;
224  case 2:
225  plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
226  break;
227  case 3:
228  plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
229  break;
230  case 4:
231  plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
232  break;
233  case 5:
234  plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
235  break;
236  default:
237  btAssert(0);
238  }
239  }
240 
241 
242  virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
243  //virtual void getEdge(int i,Edge& edge) const
244  {
245  int edgeVert0 = 0;
246  int edgeVert1 = 0;
247 
248  switch (i)
249  {
250  case 0:
251  edgeVert0 = 0;
252  edgeVert1 = 1;
253  break;
254  case 1:
255  edgeVert0 = 0;
256  edgeVert1 = 2;
257  break;
258  case 2:
259  edgeVert0 = 1;
260  edgeVert1 = 3;
261 
262  break;
263  case 3:
264  edgeVert0 = 2;
265  edgeVert1 = 3;
266  break;
267  case 4:
268  edgeVert0 = 0;
269  edgeVert1 = 4;
270  break;
271  case 5:
272  edgeVert0 = 1;
273  edgeVert1 = 5;
274 
275  break;
276  case 6:
277  edgeVert0 = 2;
278  edgeVert1 = 6;
279  break;
280  case 7:
281  edgeVert0 = 3;
282  edgeVert1 = 7;
283  break;
284  case 8:
285  edgeVert0 = 4;
286  edgeVert1 = 5;
287  break;
288  case 9:
289  edgeVert0 = 4;
290  edgeVert1 = 6;
291  break;
292  case 10:
293  edgeVert0 = 5;
294  edgeVert1 = 7;
295  break;
296  case 11:
297  edgeVert0 = 6;
298  edgeVert1 = 7;
299  break;
300  default:
301  btAssert(0);
302 
303  }
304 
305  getVertex(edgeVert0,pa );
306  getVertex(edgeVert1,pb );
307  }
308 
309 
310 
311 
312 
313  virtual bool isInside(const btVector3& pt,btScalar tolerance) const
314  {
315  btVector3 halfExtents = getHalfExtentsWithoutMargin();
316 
317  //btScalar minDist = 2*tolerance;
318 
319  bool result = (pt.x() <= (halfExtents.x()+tolerance)) &&
320  (pt.x() >= (-halfExtents.x()-tolerance)) &&
321  (pt.y() <= (halfExtents.y()+tolerance)) &&
322  (pt.y() >= (-halfExtents.y()-tolerance)) &&
323  (pt.z() <= (halfExtents.z()+tolerance)) &&
324  (pt.z() >= (-halfExtents.z()-tolerance));
325 
326  return result;
327  }
328 
329 
330  //debugging
331  virtual const char* getName()const
332  {
333  return "Box2d";
334  }
335 
336  virtual int getNumPreferredPenetrationDirections() const
337  {
338  return 6;
339  }
340 
341  virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
342  {
343  switch (index)
344  {
345  case 0:
346  penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
347  break;
348  case 1:
349  penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
350  break;
351  case 2:
352  penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
353  break;
354  case 3:
355  penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
356  break;
357  case 4:
358  penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
359  break;
360  case 5:
361  penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
362  break;
363  default:
364  btAssert(0);
365  }
366  }
367 
368 };
369 
370 #endif //BT_OBB_BOX_2D_SHAPE_H
371 
372 
btBox2dShape::getVertex
virtual void getVertex(int i, btVector3 &vtx) const
Definition: btBox2dShape.h:201
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:25
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btBox2dShape::getNumVertices
virtual int getNumVertices() const
Definition: btBox2dShape.h:152
btVector4::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z, const btScalar &_w)
Set x,y,z and zero w.
Definition: btVector3.h:1225
btCollisionMargin.h
btBox2dShape::getHalfExtentsWithoutMargin
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBox2dShape.h:47
btBox2dShape::isInside
virtual bool isInside(const btVector3 &pt, btScalar tolerance) const
Definition: btBox2dShape.h:313
btFsels
#define btFsels(a, b, c)
Definition: btScalar.h:581
btBox2dShape::getNumPlanes
virtual int getNumPlanes() const
Definition: btBox2dShape.h:188
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
btBox2dShape::localGetSupportingVertexWithoutMargin
btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
Definition: btBox2dShape.h:64
btVector4
Definition: btVector3.h:1089
btBox2dShape::getCentroid
const btVector3 & getCentroid() const
Definition: btBox2dShape.h:183
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:573
btVector3.h
btAssert
#define btAssert(x)
Definition: btScalar.h:131
btConvexInternalShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btConvexInternalShape.cpp:28
btBox2dShape::getPlane
virtual void getPlane(btVector3 &planeNormal, btVector3 &planeSupport, int i) const
Definition: btBox2dShape.h:173
btMinMax.h
btBox2dShape::getEdge
virtual void getEdge(int i, btVector3 &pa, btVector3 &pb) const
Definition: btBox2dShape.h:242
btBox2dShape::m_centroid
btVector3 m_centroid
Definition: btBox2dShape.h:31
btBox2dShape::getVertexCount
int getVertexCount() const
Definition: btBox2dShape.h:147
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
BT_DECLARE_ALIGNED_ALLOCATOR
#define BT_DECLARE_ALIGNED_ALLOCATOR()
Definition: btScalar.h:403
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btBox2dShape::getVertices
const btVector3 * getVertices() const
Definition: btBox2dShape.h:157
btBox2dShape::getNumEdges
virtual int getNumEdges() const
Definition: btBox2dShape.h:195
btBox2dShape::getNumPreferredPenetrationDirections
virtual int getNumPreferredPenetrationDirections() const
Definition: btBox2dShape.h:336
btBox2dShape::localGetSupportingVertex
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
Definition: btBox2dShape.h:53
ATTRIBUTE_ALIGNED16
#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:82
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:577
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:575
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:81
btBroadphaseProxy.h
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
btBox2dShape::getPlaneEquation
virtual void getPlaneEquation(btVector4 &plane, int i) const
Definition: btBox2dShape.h:212
btBox2dShape::getNormals
const btVector3 * getNormals() const
Definition: btBox2dShape.h:162
btBox2dShape::getHalfExtentsWithMargin
btVector3 getHalfExtentsWithMargin() const
Definition: btBox2dShape.h:39
btConvexInternalShape::setMargin
virtual void setMargin(btScalar margin)
Definition: btConvexInternalShape.h:109
btBox2dShape::setLocalScaling
virtual void setLocalScaling(const btVector3 &scaling)
Definition: btBox2dShape.h:125
btBox2dShape::batchedUnitVectorGetSupportingVertexWithoutMargin
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
Definition: btBox2dShape.h:73
btPolyhedralConvexShape.h
btBox2dShape::btBox2dShape
btBox2dShape(const btVector3 &boxHalfExtents)
a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
Definition: btBox2dShape.h:89
BOX_2D_SHAPE_PROXYTYPE
@ BOX_2D_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:49
btBox2dShape::getName
virtual const char * getName() const
Definition: btBox2dShape.h:331
btBox2dShape::getPreferredPenetrationDirection
virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const
Definition: btBox2dShape.h:341
btBox2dShape::setMargin
virtual void setMargin(btScalar collisionMargin)
Definition: btBox2dShape.h:114
btBox2dShape
The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified b...
Definition: btBox2dShape.h:26
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591
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