40ec21b398
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@437 92aac97c-a6ce-11dd-a772-7fcde58d38e6
97 lines
4.4 KiB
C++
97 lines
4.4 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2011 Daniel Chappuis *
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*********************************************************************************
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* *
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* Permission is hereby granted, free of charge, to any person obtaining a copy *
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* of this software and associated documentation files (the "Software"), to deal *
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* in the Software without restriction, including without limitation the rights *
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
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* copies of the Software, and to permit persons to whom the Software is *
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* furnished to do so, subject to the following conditions: *
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* *
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* The above copyright notice and this permission notice shall be included in *
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* 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, EXPRESS OR *
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
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* THE SOFTWARE. *
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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 "Shape.h"
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#include "../mathematics/mathematics.h"
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// TODO : CHECK THAT THE AABB IS CORRECT
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// TODO : TEST THIS SHAPE WITH GJK AND EPA ALGORITHMS
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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 Shape {
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private :
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double radius; // Radius of the base
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double halfHeight; // Half height of the cone
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public :
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CylinderShape(double radius, double height); // Constructor
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virtual ~CylinderShape(); // Destructor
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double getRadius() const; // Return the radius
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void setRadius(double radius); // Set the radius
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double getHeight() const; // Return the height
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void setHeight(double height); // Set the height
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virtual Vector3 getLocalSupportPoint(const Vector3& direction, double margin=0.0) const; // Return a support point in a given direction
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virtual Vector3 getLocalExtents(double margin=0.0) const; // Return the local extents in x,y and z direction
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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 double CylinderShape::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 CylinderShape::setRadius(double radius) {
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this->radius = radius;
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}
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// Return the height
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inline double CylinderShape::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 CylinderShape::setHeight(double 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 CylinderShape::getLocalExtents(double margin) const {
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return Vector3(radius + margin, halfHeight + margin, radius + margin);
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}
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}; // End of the ReactPhysics3D namespace
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#endif
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