/*
* Java port of Bullet (c) 2008 Martin Dvorak <jezek2@advel.cz>
*
* Bullet Continuous Collision Detection and Physics Library
* Copyright (c) 2003-2008 Erwin Coumans http://www.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.
*/
package com.bulletphysics.collision.shapes;
import com.bulletphysics.BulletGlobals;
import com.bulletphysics.collision.broadphase.BroadphaseNativeType;
import com.bulletphysics.linearmath.Transform;
import com.bulletphysics.linearmath.VectorUtil;
import cz.advel.stack.Stack;
import javax.vecmath.Vector3f;
/**
* CylinderShape class implements a cylinder shape primitive, centered around
* the origin. Its central axis aligned with the Y axis. {@link CylinderShapeX}
* is aligned with the X axis and {@link CylinderShapeZ} around the Z axis.
*
* @author jezek2
*/
public class CylinderShape extends BoxShape {
protected int upAxis;
public CylinderShape(Vector3f halfExtents) {
super(halfExtents);
upAxis = 1;
recalcLocalAabb();
}
protected CylinderShape(Vector3f halfExtents, boolean unused) {
super(halfExtents);
}
@Override
public void getAabb(Transform t, Vector3f aabbMin, Vector3f aabbMax) {
_PolyhedralConvexShape_getAabb(t, aabbMin, aabbMax);
}
protected Vector3f cylinderLocalSupportX(Vector3f halfExtents, Vector3f v, Vector3f out) {
return cylinderLocalSupport(halfExtents, v, 0, 1, 0, 2, out);
}
protected Vector3f cylinderLocalSupportY(Vector3f halfExtents, Vector3f v, Vector3f out) {
return cylinderLocalSupport(halfExtents, v, 1, 0, 1, 2, out);
}
protected Vector3f cylinderLocalSupportZ(Vector3f halfExtents, Vector3f v, Vector3f out) {
return cylinderLocalSupport(halfExtents, v, 2, 0, 2, 1, out);
}
private Vector3f cylinderLocalSupport(Vector3f halfExtents, Vector3f v, int cylinderUpAxis, int XX, int YY, int ZZ, Vector3f out) {
//mapping depends on how cylinder local orientation is
// extents of the cylinder is: X,Y is for radius, and Z for height
float radius = VectorUtil.getCoord(halfExtents, XX);
float halfHeight = VectorUtil.getCoord(halfExtents, cylinderUpAxis);
float d;
float s = (float) Math.sqrt(VectorUtil.getCoord(v, XX) * VectorUtil.getCoord(v, XX) + VectorUtil.getCoord(v, ZZ) * VectorUtil.getCoord(v, ZZ));
if (s != 0f) {
d = radius / s;
VectorUtil.setCoord(out, XX, VectorUtil.getCoord(v, XX) * d);
VectorUtil.setCoord(out, YY, VectorUtil.getCoord(v, YY) < 0f ? -halfHeight : halfHeight);
VectorUtil.setCoord(out, ZZ, VectorUtil.getCoord(v, ZZ) * d);
return out;
}
else {
VectorUtil.setCoord(out, XX, radius);
VectorUtil.setCoord(out, YY, VectorUtil.getCoord(v, YY) < 0f ? -halfHeight : halfHeight);
VectorUtil.setCoord(out, ZZ, 0f);
return out;
}
}
@Override
public Vector3f localGetSupportingVertexWithoutMargin(Vector3f vec, Vector3f out) {
return cylinderLocalSupportY(getHalfExtentsWithoutMargin(Stack.alloc(Vector3f.class)), vec, out);
}
@Override
public void batchedUnitVectorGetSupportingVertexWithoutMargin(Vector3f[] vectors, Vector3f[] supportVerticesOut, int numVectors) {
for (int i = 0; i < numVectors; i++) {
cylinderLocalSupportY(getHalfExtentsWithoutMargin(Stack.alloc(Vector3f.class)), vectors[i], supportVerticesOut[i]);
}
}
@Override
public Vector3f localGetSupportingVertex(Vector3f vec, Vector3f out) {
Vector3f supVertex = out;
localGetSupportingVertexWithoutMargin(vec, supVertex);
if (getMargin() != 0f) {
Vector3f vecnorm = Stack.alloc(vec);
if (vecnorm.lengthSquared() < (BulletGlobals.SIMD_EPSILON * BulletGlobals.SIMD_EPSILON)) {
vecnorm.set(-1f, -1f, -1f);
}
vecnorm.normalize();
supVertex.scaleAdd(getMargin(), vecnorm, supVertex);
}
return out;
}
@Override
public BroadphaseNativeType getShapeType() {
return BroadphaseNativeType.CYLINDER_SHAPE_PROXYTYPE;
}
public int getUpAxis() {
return upAxis;
}
public float getRadius() {
return getHalfExtentsWithMargin(Stack.alloc(Vector3f.class)).x;
}
@Override
public String getName() {
return "CylinderY";
}
}