diff options
Diffstat (limited to '')
-rw-r--r-- | libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs | 136 |
1 files changed, 136 insertions, 0 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs new file mode 100644 index 0000000..9a86eaf --- /dev/null +++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs | |||
@@ -0,0 +1,136 @@ | |||
1 | /* | ||
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 | ||
4 | |||
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 | ||
7 | arising from the use of this software. | ||
8 | |||
9 | Permission is granted to anyone to use this software for any purpose, | ||
10 | including commercial applications, and to alter it and redistribute it | ||
11 | freely, subject to the following restrictions: | ||
12 | |||
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 | ||
15 | in a product, an acknowledgment in the product documentation would be | ||
16 | appreciated but is not required. | ||
17 | 2. Altered source versions must be plainly marked as such, and must not be | ||
18 | misrepresented as being the original software. | ||
19 | 3. This notice may not be removed or altered from any source distribution. | ||
20 | */ | ||
21 | |||
22 | using System; | ||
23 | using System.Collections.Generic; | ||
24 | using System.Text; | ||
25 | using MonoXnaCompactMaths; | ||
26 | |||
27 | namespace XnaDevRu.BulletX | ||
28 | { | ||
29 | /// <summary> | ||
30 | /// implements cylinder shape interface | ||
31 | /// </summary> | ||
32 | public class CylinderShape : BoxShape | ||
33 | { | ||
34 | public CylinderShape(Vector3 halfExtents) | ||
35 | : base(halfExtents) | ||
36 | { | ||
37 | } | ||
38 | |||
39 | public override BroadphaseNativeTypes ShapeType | ||
40 | { | ||
41 | get | ||
42 | { | ||
43 | return BroadphaseNativeTypes.Cylinder; | ||
44 | } | ||
45 | } | ||
46 | |||
47 | public virtual int UpAxis | ||
48 | { | ||
49 | get | ||
50 | { | ||
51 | return 1; | ||
52 | } | ||
53 | } | ||
54 | |||
55 | public virtual float Radius | ||
56 | { | ||
57 | get | ||
58 | { | ||
59 | return HalfExtents.Z; | ||
60 | } | ||
61 | } | ||
62 | |||
63 | //debugging | ||
64 | public override string Name | ||
65 | { | ||
66 | get | ||
67 | { | ||
68 | return "CylinderY"; | ||
69 | } | ||
70 | } | ||
71 | |||
72 | //getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version | ||
73 | public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax) | ||
74 | { | ||
75 | GetAabbSlow(t, out aabbMin, out aabbMax); | ||
76 | } | ||
77 | |||
78 | public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) | ||
79 | { | ||
80 | return CylinderLocalSupportY(HalfExtents, vec); | ||
81 | } | ||
82 | |||
83 | public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) | ||
84 | { | ||
85 | for (int i = 0; i < vectors.Length; i++) | ||
86 | { | ||
87 | supportVerticesOut[i] = CylinderLocalSupportY(HalfExtents, vectors[i]); | ||
88 | } | ||
89 | } | ||
90 | |||
91 | public override Vector3 LocalGetSupportingVertex(Vector3 vec) | ||
92 | { | ||
93 | |||
94 | Vector3 supVertex; | ||
95 | supVertex = LocalGetSupportingVertexWithoutMargin(vec); | ||
96 | |||
97 | if (Margin != 0) | ||
98 | { | ||
99 | Vector3 vecnorm = vec; | ||
100 | if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon)) | ||
101 | { | ||
102 | vecnorm=new Vector3(-1, -1, -1); | ||
103 | } | ||
104 | vecnorm = Vector3.Normalize(vecnorm); | ||
105 | supVertex += Margin * vecnorm; | ||
106 | } | ||
107 | return supVertex; | ||
108 | } | ||
109 | |||
110 | private Vector3 CylinderLocalSupportY(Vector3 halfExtents, Vector3 v) | ||
111 | { | ||
112 | float radius = halfExtents.X; | ||
113 | float halfHeight = halfExtents.Y; | ||
114 | |||
115 | Vector3 tmp = new Vector3(); | ||
116 | float d; | ||
117 | |||
118 | float s = (float)Math.Sqrt(v.X * v.X + v.Z * v.Z); | ||
119 | if (s != 0) | ||
120 | { | ||
121 | d = radius / s; | ||
122 | tmp.X = v.X * d; | ||
123 | tmp.Y = v.Y < 0 ? -halfHeight : halfHeight; | ||
124 | tmp.Z = v.Z * d; | ||
125 | return tmp; | ||
126 | } | ||
127 | else | ||
128 | { | ||
129 | tmp.X = radius; | ||
130 | tmp.Y = v.Y < 0 ? -halfHeight : halfHeight; | ||
131 | tmp.Z = 0; | ||
132 | return tmp; | ||
133 | } | ||
134 | } | ||
135 | } | ||
136 | } | ||