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-rw-r--r--libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/ConeShape.cs416
1 files changed, 208 insertions, 208 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/ConeShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/ConeShape.cs
index 361c277..52084f4 100644
--- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/ConeShape.cs
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/ConeShape.cs
@@ -1,208 +1,208 @@
1/* 1/*
2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru 2 Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com 3 Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
4 4
5 This software is provided 'as-is', without any express or implied 5 This software is provided 'as-is', without any express or implied
6 warranty. In no event will the authors be held liable for any damages 6 warranty. In no event will the authors be held liable for any damages
7 arising from the use of this software. 7 arising from the use of this software.
8 8
9 Permission is granted to anyone to use this software for any purpose, 9 Permission is granted to anyone to use this software for any purpose,
10 including commercial applications, and to alter it and redistribute it 10 including commercial applications, and to alter it and redistribute it
11 freely, subject to the following restrictions: 11 freely, subject to the following restrictions:
12 12
13 1. The origin of this software must not be misrepresented; you must not 13 1. The origin of this software must not be misrepresented; you must not
14 claim that you wrote the original software. If you use this software 14 claim that you wrote the original software. If you use this software
15 in a product, an acknowledgment in the product documentation would be 15 in a product, an acknowledgment in the product documentation would be
16 appreciated but is not required. 16 appreciated but is not required.
17 2. Altered source versions must be plainly marked as such, and must not be 17 2. Altered source versions must be plainly marked as such, and must not be
18 misrepresented as being the original software. 18 misrepresented as being the original software.
19 3. This notice may not be removed or altered from any source distribution. 19 3. This notice may not be removed or altered from any source distribution.
20*/ 20*/
21 21
22using System; 22using System;
23using System.Collections.Generic; 23using System.Collections.Generic;
24using System.Text; 24using System.Text;
25using MonoXnaCompactMaths; 25using MonoXnaCompactMaths;
26 26
27namespace XnaDevRu.BulletX 27namespace XnaDevRu.BulletX
28{ 28{
29 /// <summary> 29 /// <summary>
30 /// ConeShape implements a Cone shape, around the X axis 30 /// ConeShape implements a Cone shape, around the X axis
31 /// </summary> 31 /// </summary>
32 public class ConeShapeX : ConeShape 32 public class ConeShapeX : ConeShape
33 { 33 {
34 public ConeShapeX(float radius, float height) 34 public ConeShapeX(float radius, float height)
35 : base(radius, height) 35 : base(radius, height)
36 { 36 {
37 ConeUpIndex = 0; 37 ConeUpIndex = 0;
38 } 38 }
39 } 39 }
40 40
41 /// <summary> 41 /// <summary>
42 /// ConeShape implements a Cone shape, around the Z axis 42 /// ConeShape implements a Cone shape, around the Z axis
43 /// </summary> 43 /// </summary>
44 public class ConeShapeZ : ConeShape 44 public class ConeShapeZ : ConeShape
45 { 45 {
46 public ConeShapeZ(float radius, float height) 46 public ConeShapeZ(float radius, float height)
47 : base(radius, height) 47 : base(radius, height)
48 { 48 {
49 ConeUpIndex = 2; 49 ConeUpIndex = 2;
50 } 50 }
51 } 51 }
52 52
53 /// <summary> 53 /// <summary>
54 /// ConeShape implements a Cone shape, around the Y axis 54 /// ConeShape implements a Cone shape, around the Y axis
55 /// </summary> 55 /// </summary>
56 public class ConeShape : ConvexShape 56 public class ConeShape : ConvexShape
57 { 57 {
58 private float _sinAngle; 58 private float _sinAngle;
59 private float _radius; 59 private float _radius;
60 private float _height; 60 private float _height;
61 private int[] _coneIndices = new int[3]; 61 private int[] _coneIndices = new int[3];
62 62
63 public ConeShape(float radius, float height) 63 public ConeShape(float radius, float height)
64 { 64 {
65 _radius = radius; 65 _radius = radius;
66 _height = height; 66 _height = height;
67 ConeUpIndex = 1; 67 ConeUpIndex = 1;
68 _sinAngle = (_radius / (float)Math.Sqrt(_radius * _radius + _height * _height)); 68 _sinAngle = (_radius / (float)Math.Sqrt(_radius * _radius + _height * _height));
69 } 69 }
70 70
71 public float Radius { get { return _radius; } } 71 public float Radius { get { return _radius; } }
72 public float Height { get { return _height; } } 72 public float Height { get { return _height; } }
73 73
74 public override BroadphaseNativeTypes ShapeType 74 public override BroadphaseNativeTypes ShapeType
75 { 75 {
76 get 76 get
77 { 77 {
78 return BroadphaseNativeTypes.Cone; 78 return BroadphaseNativeTypes.Cone;
79 } 79 }
80 } 80 }
81 81
82 public override string Name 82 public override string Name
83 { 83 {
84 get 84 get
85 { 85 {
86 return "Cone"; 86 return "Cone";
87 } 87 }
88 } 88 }
89 89
90 //choose upAxis index 90 //choose upAxis index
91 public int ConeUpIndex 91 public int ConeUpIndex
92 { 92 {
93 get { return _coneIndices[1]; } 93 get { return _coneIndices[1]; }
94 set 94 set
95 { 95 {
96 switch (value) 96 switch (value)
97 { 97 {
98 case 0: 98 case 0:
99 _coneIndices[0] = 1; 99 _coneIndices[0] = 1;
100 _coneIndices[1] = 0; 100 _coneIndices[1] = 0;
101 _coneIndices[2] = 2; 101 _coneIndices[2] = 2;
102 break; 102 break;
103 case 1: 103 case 1:
104 _coneIndices[0] = 0; 104 _coneIndices[0] = 0;
105 _coneIndices[1] = 1; 105 _coneIndices[1] = 1;
106 _coneIndices[2] = 2; 106 _coneIndices[2] = 2;
107 break; 107 break;
108 case 2: 108 case 2:
109 _coneIndices[0] = 0; 109 _coneIndices[0] = 0;
110 _coneIndices[1] = 2; 110 _coneIndices[1] = 2;
111 _coneIndices[2] = 1; 111 _coneIndices[2] = 1;
112 break; 112 break;
113 default: 113 default:
114 BulletDebug.Assert(false); 114 BulletDebug.Assert(false);
115 break; 115 break;
116 } 116 }
117 } 117 }
118 } 118 }
119 119
120 private Vector3 ConeLocalSupport(Vector3 v) 120 private Vector3 ConeLocalSupport(Vector3 v)
121 { 121 {
122 float halfHeight = _height * 0.5f; 122 float halfHeight = _height * 0.5f;
123 bool condition; 123 bool condition;
124 124
125 if (_coneIndices[1] == 0) 125 if (_coneIndices[1] == 0)
126 condition = v.X > v.Length() * _sinAngle; 126 condition = v.X > v.Length() * _sinAngle;
127 else if (_coneIndices[1] == 1) 127 else if (_coneIndices[1] == 1)
128 condition = v.Y > v.Length() * _sinAngle; 128 condition = v.Y > v.Length() * _sinAngle;
129 else 129 else
130 condition = v.Z > v.Length() * _sinAngle; 130 condition = v.Z > v.Length() * _sinAngle;
131 131
132 if (condition) 132 if (condition)
133 { 133 {
134 Vector3 tmp = new Vector3(); 134 Vector3 tmp = new Vector3();
135 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], halfHeight); 135 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], halfHeight);
136 return tmp; 136 return tmp;
137 } 137 }
138 else 138 else
139 { 139 {
140 float s = (float)Math.Sqrt(MathHelper.GetValueByIndex(v, _coneIndices[0]) * MathHelper.GetValueByIndex(v, _coneIndices[0]) 140 float s = (float)Math.Sqrt(MathHelper.GetValueByIndex(v, _coneIndices[0]) * MathHelper.GetValueByIndex(v, _coneIndices[0])
141 + MathHelper.GetValueByIndex(v, _coneIndices[2]) * MathHelper.GetValueByIndex(v, _coneIndices[2])); 141 + MathHelper.GetValueByIndex(v, _coneIndices[2]) * MathHelper.GetValueByIndex(v, _coneIndices[2]));
142 if (s > MathHelper.Epsilon) 142 if (s > MathHelper.Epsilon)
143 { 143 {
144 float d = _radius / s; 144 float d = _radius / s;
145 Vector3 tmp = new Vector3(); 145 Vector3 tmp = new Vector3();
146 MathHelper.SetValueByIndex(ref tmp, _coneIndices[0], MathHelper.GetValueByIndex(v, _coneIndices[0]) * d); 146 MathHelper.SetValueByIndex(ref tmp, _coneIndices[0], MathHelper.GetValueByIndex(v, _coneIndices[0]) * d);
147 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], -halfHeight); 147 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], -halfHeight);
148 MathHelper.SetValueByIndex(ref tmp, _coneIndices[2], MathHelper.GetValueByIndex(v, _coneIndices[2]) * d); 148 MathHelper.SetValueByIndex(ref tmp, _coneIndices[2], MathHelper.GetValueByIndex(v, _coneIndices[2]) * d);
149 return tmp; 149 return tmp;
150 } 150 }
151 else 151 else
152 { 152 {
153 Vector3 tmp = new Vector3(); 153 Vector3 tmp = new Vector3();
154 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], -halfHeight); 154 MathHelper.SetValueByIndex(ref tmp, _coneIndices[1], -halfHeight);
155 return tmp; 155 return tmp;
156 } 156 }
157 } 157 }
158 } 158 }
159 159
160 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) 160 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
161 { 161 {
162 return ConeLocalSupport(vec); 162 return ConeLocalSupport(vec);
163 } 163 }
164 164
165 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) 165 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
166 { 166 {
167 for (int i = 0; i < vectors.Length; i++) 167 for (int i = 0; i < vectors.Length; i++)
168 supportVerticesOut[i] = ConeLocalSupport(vectors[i]); 168 supportVerticesOut[i] = ConeLocalSupport(vectors[i]);
169 } 169 }
170 170
171 public override void CalculateLocalInertia(float mass, out Vector3 inertia) 171 public override void CalculateLocalInertia(float mass, out Vector3 inertia)
172 { 172 {
173 Matrix identity = Matrix.Identity; 173 Matrix identity = Matrix.Identity;
174 Vector3 aabbMin, aabbMax; 174 Vector3 aabbMin, aabbMax;
175 GetAabb(identity, out aabbMin, out aabbMax); 175 GetAabb(identity, out aabbMin, out aabbMax);
176 176
177 Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f; 177 Vector3 halfExtents = (aabbMax - aabbMin) * 0.5f;
178 178
179 float margin = Margin; 179 float margin = Margin;
180 180
181 float lx = 2f * (halfExtents.X + margin); 181 float lx = 2f * (halfExtents.X + margin);
182 float ly = 2f * (halfExtents.Y + margin); 182 float ly = 2f * (halfExtents.Y + margin);
183 float lz = 2f * (halfExtents.Z + margin); 183 float lz = 2f * (halfExtents.Z + margin);
184 float x2 = lx * lx; 184 float x2 = lx * lx;
185 float y2 = ly * ly; 185 float y2 = ly * ly;
186 float z2 = lz * lz; 186 float z2 = lz * lz;
187 float scaledmass = mass * 0.08333333f; 187 float scaledmass = mass * 0.08333333f;
188 188
189 inertia = scaledmass * (new Vector3(y2 + z2, x2 + z2, x2 + y2)); 189 inertia = scaledmass * (new Vector3(y2 + z2, x2 + z2, x2 + y2));
190 } 190 }
191 191
192 public override Vector3 LocalGetSupportingVertex(Vector3 vec) 192 public override Vector3 LocalGetSupportingVertex(Vector3 vec)
193 { 193 {
194 Vector3 supVertex = ConeLocalSupport(vec); 194 Vector3 supVertex = ConeLocalSupport(vec);
195 if (Margin != 0) 195 if (Margin != 0)
196 { 196 {
197 Vector3 vecnorm = vec; 197 Vector3 vecnorm = vec;
198 if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon)) 198 if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon))
199 { 199 {
200 vecnorm = new Vector3(-1f, -1f, -1f); 200 vecnorm = new Vector3(-1f, -1f, -1f);
201 } 201 }
202 vecnorm = Vector3.Normalize(vecnorm); 202 vecnorm = Vector3.Normalize(vecnorm);
203 supVertex += Margin * vecnorm; 203 supVertex += Margin * vecnorm;
204 } 204 }
205 return supVertex; 205 return supVertex;
206 } 206 }
207 } 207 }
208} 208}
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