401a60b74a
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@461 92aac97c-a6ce-11dd-a772-7fcde58d38e6
103 lines
5.0 KiB
C++
103 lines
5.0 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_COLLIDER_H
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#define CYLINDER_COLLIDER_H
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// Libraries
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#include "Collider.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 CylinderCollider :
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This class represents a cylinder collision collider 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 CylinderCollider : public Collider {
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private :
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decimal radius; // Radius of the base
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decimal halfHeight; // Half height of the cone
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public :
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CylinderCollider(decimal radius, decimal height); // Constructor
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virtual ~CylinderCollider(); // Destructor
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decimal getRadius() const; // Return the radius
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void setRadius(decimal radius); // Set the radius
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decimal getHeight() const; // Return the height
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void setHeight(decimal height); // Set the height
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virtual Vector3 getLocalSupportPoint(const Vector3& direction, decimal margin=0.0) const; // Return a support point in a given direction
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virtual Vector3 getLocalExtents(decimal margin=0.0) const; // Return the local extents in x,y and z direction
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virtual void computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const; // Return the local inertia tensor of the collider
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#ifdef VISUAL_DEBUG
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virtual void draw() const; // Draw the sphere (only for testing purpose)
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#endif
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};
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// Return the radius
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inline decimal CylinderCollider::getRadius() const {
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return radius;
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}
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// Set the radius
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inline void CylinderCollider::setRadius(decimal radius) {
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this->radius = radius;
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}
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// Return the height
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inline decimal CylinderCollider::getHeight() const {
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return halfHeight * 2.0;
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}
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// Set the height
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inline void CylinderCollider::setHeight(decimal height) {
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this->halfHeight = height / 2.0;
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}
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// Return the local extents in x,y and z direction
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inline Vector3 CylinderCollider::getLocalExtents(decimal margin) const {
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return Vector3(radius + margin, halfHeight + margin, radius + margin);
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}
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// Return the local inertia tensor of the cylinder
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inline void CylinderCollider::computeLocalInertiaTensor(Matrix3x3& tensor, decimal mass) const {
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decimal height = 2.0 * halfHeight;
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decimal diag = (1.0 / 12.0) * mass * (3 * radius * radius + height * height);
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tensor.setAllValues(diag, 0.0, 0.0, 0.0, 0.5 * mass * radius * radius, 0.0, 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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