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 @@
+/*
+  Bullet for XNA Copyright (c) 2003-2007 Vsevolod Klementjev http://www.codeplex.com/xnadevru
+  Bullet original C++ version Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
+  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.
+*/
+using System;
+using System.Collections.Generic;
+using System.Text;
+using MonoXnaCompactMaths;
+namespace XnaDevRu.BulletX
+{
+        /// <summary>
+        /// implements cylinder shape interface
+        /// </summary>
+        public class CylinderShape : BoxShape
+        {
+                public CylinderShape(Vector3 halfExtents)
+                        : base(halfExtents)
+                {
+                }
+                public override BroadphaseNativeTypes ShapeType
+                {
+                        get
+                        {
+                                return BroadphaseNativeTypes.Cylinder;
+                        }
+                }
+                public virtual int UpAxis
+                {
+                        get
+                        {
+                                return 1;
+                        }
+                }
+                public virtual float Radius
+                {
+                        get
+                        {
+                                return HalfExtents.Z;
+                        }
+                }
+                //debugging
+                public override string Name
+                {
+                        get
+                        {
+                                return "CylinderY";
+                        }
+                }
+                //getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+                public override void GetAabb(Matrix t, out Vector3 aabbMin, out Vector3 aabbMax)
+                {
+                        GetAabbSlow(t, out aabbMin, out aabbMax);
+                }
+                public override Vector3 LocalGetSupportingVertexWithoutMargin(Vector3 vec)
+                {
+                        return CylinderLocalSupportY(HalfExtents, vec);
+                }
+                public override void BatchedUnitVectorGetSupportingVertexWithoutMargin(Vector3[] vectors, Vector3[] supportVerticesOut)
+                {
+                        for (int i = 0; i < vectors.Length; i++)
+                        {
+                                supportVerticesOut[i] = CylinderLocalSupportY(HalfExtents, vectors[i]);
+                        }
+                }
+                public override Vector3 LocalGetSupportingVertex(Vector3 vec)
+                {
+                        Vector3 supVertex;
+                        supVertex = LocalGetSupportingVertexWithoutMargin(vec);
+                        if (Margin != 0)
+                        {
+                                Vector3 vecnorm = vec;
+                                if (vecnorm.LengthSquared() < (MathHelper.Epsilon * MathHelper.Epsilon))
+                                {
+                                        vecnorm=new Vector3(-1, -1, -1);
+                                }
+                                vecnorm = Vector3.Normalize(vecnorm);
+                                supVertex += Margin * vecnorm;
+                        }
+                        return supVertex;
+                }
+                private Vector3 CylinderLocalSupportY(Vector3 halfExtents, Vector3 v)
+                {
+                        float radius = halfExtents.X;
+                        float halfHeight = halfExtents.Y;
+                        Vector3 tmp = new Vector3();
+                        float d;
+                        float s = (float)Math.Sqrt(v.X * v.X + v.Z * v.Z);
+                        if (s != 0)
+                        {
+                                d = radius / s;
+                                tmp.X = v.X * d;
+                                tmp.Y = v.Y < 0 ? -halfHeight : halfHeight;
+                                tmp.Z = v.Z * d;
+                                return tmp;
+                        }
+                        else
+                        {
+                                tmp.X = radius;
+                                tmp.Y = v.Y < 0 ? -halfHeight : halfHeight;
+                                tmp.Z = 0;
+                                return tmp;
+                        }
+                }
+        }
+}

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	}