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104 lines
4.1 KiB
C++
104 lines
4.1 KiB
C++
/*************************************************************************/
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/* btRayShape.cpp */
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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) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 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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#include "btRayShape.h"
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#include "core/math/math_funcs.h"
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#include <LinearMath/btAabbUtil2.h>
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/**
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@author AndreaCatania
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*/
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btRayShape::btRayShape(btScalar length) :
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btConvexInternalShape(),
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m_shapeAxis(0, 0, 1) {
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m_shapeType = CUSTOM_CONVEX_SHAPE_TYPE;
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setLength(length);
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}
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btRayShape::~btRayShape() {
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}
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void btRayShape::setLength(btScalar p_length) {
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m_length = p_length;
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reload_cache();
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}
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void btRayShape::setSlipsOnSlope(bool p_slipsOnSlope) {
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slipsOnSlope = p_slipsOnSlope;
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}
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btVector3 btRayShape::localGetSupportingVertex(const btVector3 &vec) const {
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return localGetSupportingVertexWithoutMargin(vec) + (m_shapeAxis * m_collisionMargin);
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}
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btVector3 btRayShape::localGetSupportingVertexWithoutMargin(const btVector3 &vec) const {
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if (vec.z() > 0)
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return m_shapeAxis * m_cacheScaledLength;
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else
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return btVector3(0, 0, 0);
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}
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void btRayShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const {
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for (int i = 0; i < numVectors; ++i) {
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supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
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}
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}
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void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
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#define MARGIN_BROADPHASE 0.1
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btVector3 localAabbMin(0, 0, 0);
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btVector3 localAabbMax(m_shapeAxis * m_length);
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btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
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}
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void btRayShape::calculateLocalInertia(btScalar mass, btVector3 &inertia) const {
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inertia.setZero();
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}
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int btRayShape::getNumPreferredPenetrationDirections() const {
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return 0;
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}
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void btRayShape::getPreferredPenetrationDirection(int index, btVector3 &penetrationVector) const {
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penetrationVector.setZero();
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}
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void btRayShape::reload_cache() {
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m_cacheScaledLength = m_length * m_localScaling[2] + m_collisionMargin;
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m_cacheSupportPoint.setIdentity();
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m_cacheSupportPoint.setOrigin(m_shapeAxis * m_cacheScaledLength);
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}
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