140 lines
5.2 KiB
C++
140 lines
5.2 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2012 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef CYLINDER_SHAPE_H
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#define CYLINDER_SHAPE_H
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// Libraries
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#include "CollisionShape.h"
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#include "../../mathematics/mathematics.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class CylinderShape :
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This class represents a cylinder collision shape around the Y axis
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and centered at the origin. The cylinder is defined by its height
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and the radius of its base. The "transform" of the corresponding
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rigid body gives an orientation and a position to the cylinder.
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-------------------------------------------------------------------
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*/
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class CylinderShape : public CollisionShape {
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private :
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// -------------------- Attributes -------------------- //
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// Radius of the base
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decimal mRadius;
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// Half height of the cone
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decimal mHalfHeight;
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// -------------------- Methods -------------------- //
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// Private copy-constructor
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CylinderShape(const CylinderShape& shape);
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// Private assignment operator
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CylinderShape& operator=(const CylinderShape& shape);
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public :
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// -------------------- Methods -------------------- //
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// Constructor
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CylinderShape(decimal radius, decimal height);
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// Destructor
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virtual ~CylinderShape();
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// Return the radius
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decimal getRadius() const;
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// Set the radius
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void setRadius(decimal mRadius);
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// Return the height
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decimal getHeight() const;
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// Set the height
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void setHeight(decimal height);
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// Return a support point in a given direction
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virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const;
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// Return the local extents in x,y and z direction
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virtual Vector3 getLocalExtents(decimal margin=0.0) const;
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// Return the local inertia tensor of the collision shape
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virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const;
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#ifdef VISUAL_DEBUG
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// Draw the sphere (only for testing purpose)
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virtual void draw() const;
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#endif
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};
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// Return the radius
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inline decimal CylinderShape::getRadius() const {
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return mRadius;
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}
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// Set the radius
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inline void CylinderShape::setRadius(decimal radius) {
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this->mRadius = radius;
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}
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// Return the height
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inline decimal CylinderShape::getHeight() const {
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return mHalfHeight * 2.0;
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}
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// Set the height
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inline void CylinderShape::setHeight(decimal height) {
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mHalfHeight = height * decimal(0.5);
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}
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// Return the local extents in x,y and z direction
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inline Vector3 CylinderShape::getLocalExtents(decimal margin) const {
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return Vector3(mRadius + margin, mHalfHeight + margin, mRadius + margin);
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}
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// Return the local inertia tensor of the cylinder
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inline void CylinderShape::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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decimal height = decimal(2.0) * mHalfHeight;
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decimal diag = (decimal(1.0) / decimal(12.0)) * mass * (3 * mRadius * mRadius + height * height);
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tensor.setAllValues(diag, 0.0, 0.0, 0.0,
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decimal(0.5) * mass * mRadius * mRadius, 0.0,
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0.0, 0.0, diag);
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}
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}; // End of the ReactPhysics3D namespace
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#endif
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