96 lines
4.2 KiB
C++
96 lines
4.2 KiB
C++
/*************************************************************************/
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/* btRayShape.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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/// IMPORTANT The class name and filename was created by following Bullet writing rules for an easy (eventually) porting to bullet
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/// This shape is a custom shape that is not present to Bullet physics engine
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#ifndef BTRAYSHAPE_H
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#define BTRAYSHAPE_H
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#include <BulletCollision/CollisionShapes/btConvexInternalShape.h>
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/**
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@author AndreaCatania
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*/
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/// Ray shape around z axis
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ATTRIBUTE_ALIGNED16(class)
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btRayShape : public btConvexInternalShape {
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btScalar m_length = 0;
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bool slipsOnSlope = false;
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/// The default axis is the z
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btVector3 m_shapeAxis = btVector3(0, 0, 1);
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btTransform m_cacheSupportPoint;
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btScalar m_cacheScaledLength;
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public:
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BT_DECLARE_ALIGNED_ALLOCATOR();
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btRayShape(btScalar length);
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virtual ~btRayShape();
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void setLength(btScalar p_length);
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btScalar getLength() const { return m_length; }
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virtual void setMargin(btScalar margin);
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void setSlipsOnSlope(bool p_slipsOnSlope);
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bool getSlipsOnSlope() const { return slipsOnSlope; }
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const btTransform &getSupportPoint() const { return m_cacheSupportPoint; }
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const btScalar &getScaledLength() const { return m_cacheScaledLength; }
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virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const;
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#ifndef __SPU__
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virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const;
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#endif //#ifndef __SPU__
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virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const;
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///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
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virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const;
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#ifndef __SPU__
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virtual void calculateLocalInertia(btScalar mass, btVector3 & inertia) const;
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virtual const char *getName() const {
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return "RayZ";
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}
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#endif //__SPU__
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virtual int getNumPreferredPenetrationDirections() const;
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virtual void getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const;
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private:
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void reload_cache();
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};
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#endif // BTRAYSHAPE_H
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