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-rw-r--r--libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs272
1 files changed, 136 insertions, 136 deletions
diff --git a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs
index 9a86eaf..85bf769 100644
--- a/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs
+++ b/libraries/ModifiedBulletX/ModifiedBulletX/Collision/CollisionShapes/CylinderShape.cs
@@ -1,136 +1,136 @@
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 /// implements cylinder shape interface 30 /// implements cylinder shape interface
31 /// </summary> 31 /// </summary>
32 public class CylinderShape : BoxShape 32 public class CylinderShape : BoxShape
33 { 33 {
34 public CylinderShape(Vector3 halfExtents) 34 public CylinderShape(Vector3 halfExtents)
35 : base(halfExtents) 35 : base(halfExtents)
36 { 36 {
37 } 37 }
38 38
39 public override BroadphaseNativeTypes ShapeType 39 public override BroadphaseNativeTypes ShapeType
40 { 40 {
41 get 41 get
42 { 42 {
43 return BroadphaseNativeTypes.Cylinder; 43 return BroadphaseNativeTypes.Cylinder;
44 } 44 }
45 } 45 }
46 46
47 public virtual int UpAxis 47 public virtual int UpAxis
48 { 48 {
49 get 49 get
50 { 50 {
51 return 1; 51 return 1;
52 } 52 }
53 } 53 }
54 54
55 public virtual float Radius 55 public virtual float Radius
56 { 56 {
57 get 57 get
58 { 58 {
59 return HalfExtents.Z; 59 return HalfExtents.Z;
60 } 60 }
61 } 61 }
62 62
63 //debugging 63 //debugging
64 public override string Name 64 public override string Name
65 { 65 {
66 get 66 get
67 { 67 {
68 return "CylinderY"; 68 return "CylinderY";
69 } 69 }
70 } 70 }
71 71
72 //getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version 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) 73 public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
74 { 74 {
75 GetAabbSlow(t, out aabbMin, out aabbMax); 75 GetAabbSlow(t, out aabbMin, out aabbMax);
76 } 76 }
77 77
78 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec) 78 public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
79 { 79 {
80 return CylinderLocalSupportY(HalfExtents, vec); 80 return CylinderLocalSupportY(HalfExtents, vec);
81 } 81 }
82 82
83 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut) 83 public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
84 { 84 {
85 for (int i = 0; i < vectors.Length; i++) 85 for (int i = 0; i < vectors.Length; i++)
86 { 86 {
87 supportVerticesOut[i] = CylinderLocalSupportY(HalfExtents, vectors[i]); 87 supportVerticesOut[i] = CylinderLocalSupportY(HalfExtents, vectors[i]);
88 } 88 }
89 } 89 }
90 90
91 public override Vector3 LocalGetSupportingVertex(Vector3 vec) 91 public override Vector3 LocalGetSupportingVertex(Vector3 vec)
92 { 92 {
93 93
94 Vector3 supVertex; 94 Vector3 supVertex;
95 supVertex = LocalGetSupportingVertexWithoutMargin(vec); 95 supVertex = LocalGetSupportingVertexWithoutMargin(vec);
96 96
97 if (Margin != 0) 97 if (Margin != 0)
98 { 98 {
99 Vector3 vecnorm = vec; 99 Vector3 vecnorm = vec;
100 if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon)) 100 if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon))
101 { 101 {
102 vecnorm=new Vector3(-1, -1, -1); 102 vecnorm=new Vector3(-1, -1, -1);
103 } 103 }
104 vecnorm = Vector3.Normalize(vecnorm); 104 vecnorm = Vector3.Normalize(vecnorm);
105 supVertex += Margin * vecnorm; 105 supVertex += Margin * vecnorm;
106 } 106 }
107 return supVertex; 107 return supVertex;
108 } 108 }
109 109
110 private Vector3 CylinderLocalSupportY(Vector3 halfExtents, Vector3 v) 110 private Vector3 CylinderLocalSupportY(Vector3 halfExtents, Vector3 v)
111 { 111 {
112 float radius = halfExtents.X; 112 float radius = halfExtents.X;
113 float halfHeight = halfExtents.Y; 113 float halfHeight = halfExtents.Y;
114 114
115 Vector3 tmp = new Vector3(); 115 Vector3 tmp = new Vector3();
116 float d; 116 float d;
117 117
118 float s = (float)Math.Sqrt(v.X * v.X + v.Z * v.Z); 118 float s = (float)Math.Sqrt(v.X * v.X + v.Z * v.Z);
119 if (s != 0) 119 if (s != 0)
120 { 120 {
121 d = radius / s; 121 d = radius / s;
122 tmp.X = v.X * d; 122 tmp.X = v.X * d;
123 tmp.Y = v.Y < 0 ? -halfHeight : halfHeight; 123 tmp.Y = v.Y < 0 ? -halfHeight : halfHeight;
124 tmp.Z = v.Z * d; 124 tmp.Z = v.Z * d;
125 return tmp; 125 return tmp;
126 } 126 }
127 else 127 else
128 { 128 {
129 tmp.X = radius; 129 tmp.X = radius;
130 tmp.Y = v.Y < 0 ? -halfHeight : halfHeight; 130 tmp.Y = v.Y < 0 ? -halfHeight : halfHeight;
131 tmp.Z = 0; 131 tmp.Z = 0;
132 return tmp; 132 return tmp;
133 } 133 }
134 } 134 }
135 } 135 }
136} 136}
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