1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btConeShape.h"
17
18
19
20btConeShape::btConeShape (btScalar radius,btScalar height): btConvexInternalShape (),
21m_radius (radius),
22m_height(height)
23{
24	m_shapeType = CONE_SHAPE_PROXYTYPE;
25	setConeUpIndex(1);
26	btVector3 halfExtents;
27	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
28}
29
30btConeShapeZ::btConeShapeZ (btScalar radius,btScalar height):
31btConeShape(radius,height)
32{
33	setConeUpIndex(2);
34}
35
36btConeShapeX::btConeShapeX (btScalar radius,btScalar height):
37btConeShape(radius,height)
38{
39	setConeUpIndex(0);
40}
41
42///choose upAxis index
43void	btConeShape::setConeUpIndex(int upIndex)
44{
45	switch (upIndex)
46	{
47	case 0:
48			m_coneIndices[0] = 1;
49			m_coneIndices[1] = 0;
50			m_coneIndices[2] = 2;
51		break;
52	case 1:
53			m_coneIndices[0] = 0;
54			m_coneIndices[1] = 1;
55			m_coneIndices[2] = 2;
56		break;
57	case 2:
58			m_coneIndices[0] = 0;
59			m_coneIndices[1] = 2;
60			m_coneIndices[2] = 1;
61		break;
62	default:
63		btAssert(0);
64	};
65
66	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
67	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
68	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
69}
70
71btVector3 btConeShape::coneLocalSupport(const btVector3& v) const
72{
73
74	btScalar halfHeight = m_height * btScalar(0.5);
75
76 if (v[m_coneIndices[1]] > v.length() * m_sinAngle)
77 {
78	btVector3 tmp;
79
80	tmp[m_coneIndices[0]] = btScalar(0.);
81	tmp[m_coneIndices[1]] = halfHeight;
82	tmp[m_coneIndices[2]] = btScalar(0.);
83	return tmp;
84 }
85  else {
86    btScalar s = btSqrt(v[m_coneIndices[0]] * v[m_coneIndices[0]] + v[m_coneIndices[2]] * v[m_coneIndices[2]]);
87    if (s > SIMD_EPSILON) {
88      btScalar d = m_radius / s;
89	  btVector3 tmp;
90	  tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
91	  tmp[m_coneIndices[1]] = -halfHeight;
92	  tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
93	  return tmp;
94    }
95    else  {
96		btVector3 tmp;
97		tmp[m_coneIndices[0]] = btScalar(0.);
98		tmp[m_coneIndices[1]] = -halfHeight;
99		tmp[m_coneIndices[2]] = btScalar(0.);
100		return tmp;
101	}
102  }
103
104}
105
106btVector3	btConeShape::localGetSupportingVertexWithoutMargin(const btVector3& vec) const
107{
108		return coneLocalSupport(vec);
109}
110
111void	btConeShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
112{
113	for (int i=0;i<numVectors;i++)
114	{
115		const btVector3& vec = vectors[i];
116		supportVerticesOut[i] = coneLocalSupport(vec);
117	}
118}
119
120
121btVector3	btConeShape::localGetSupportingVertex(const btVector3& vec)  const
122{
123	btVector3 supVertex = coneLocalSupport(vec);
124	if ( getMargin()!=btScalar(0.) )
125	{
126		btVector3 vecnorm = vec;
127		if (vecnorm .length2() < (SIMD_EPSILON*SIMD_EPSILON))
128		{
129			vecnorm.setValue(btScalar(-1.),btScalar(-1.),btScalar(-1.));
130		}
131		vecnorm.normalize();
132		supVertex+= getMargin() * vecnorm;
133	}
134	return supVertex;
135}
136
137
138void	btConeShape::setLocalScaling(const btVector3& scaling)
139{
140	int axis = m_coneIndices[1];
141	int r1 = m_coneIndices[0];
142	int r2 = m_coneIndices[2];
143	m_height *= scaling[axis] / m_localScaling[axis];
144	m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
145	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
146	btConvexInternalShape::setLocalScaling(scaling);
147}