81 tmp[m_coneIndices[1]] = halfHeight;
82 tmp[m_coneIndices[2]] =
btScalar(0.);
90 tmp[m_coneIndices[0]] = v[m_coneIndices[0]] * d;
91 tmp[m_coneIndices[1]] = -halfHeight;
92 tmp[m_coneIndices[2]] = v[m_coneIndices[2]] * d;
97 tmp[m_coneIndices[0]] =
btScalar(0.);
98 tmp[m_coneIndices[1]] = -halfHeight;
99 tmp[m_coneIndices[2]] =
btScalar(0.);
113 for (
int i=0;i<numVectors;i++)
btConeShape(btScalar radius, btScalar height)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
btScalar btSqrt(btScalar y)
virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3 &vec) const
void setConeUpIndex(int upIndex)
choose upAxis index
btVector3 m_implicitShapeDimensions
btVector3 & normalize()
Normalize this vector x^2 + y^2 + z^2 = 1.
btVector3 coneLocalSupport(const btVector3 &v) const
virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3 *vectors, btVector3 *supportVerticesOut, int numVectors) const
The btConeShape implements a cone shape primitive, centered around the origin and aligned with the Y ...
virtual btScalar getMargin() const
btConeShapeX(btScalar radius, btScalar height)
btVector3 can be used to represent 3D points and vectors.
virtual void setLocalScaling(const btVector3 &scaling)
virtual void setLocalScaling(const btVector3 &scaling)
virtual btVector3 localGetSupportingVertex(const btVector3 &vec) const
btConeShapeZ(btScalar radius, btScalar height)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar length() const
Return the length of the vector.