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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp | 51 |
1 files changed, 51 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp new file mode 100644 index 0000000000..72eeb38911 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -0,0 +1,51 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org + +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. +*/ +#include "btBoxShape.h" + +btBoxShape::btBoxShape( const btVector3& boxHalfExtents) +: btPolyhedralConvexShape() +{ + m_shapeType = BOX_SHAPE_PROXYTYPE; + + btVector3 margin(getMargin(),getMargin(),getMargin()); + m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; + + setSafeMargin(boxHalfExtents); +}; + + + + +void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +{ + btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); +} + + +void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +{ + //btScalar margin = btScalar(0.); + btVector3 halfExtents = getHalfExtentsWithMargin(); + + btScalar lx=btScalar(2.)*(halfExtents.x()); + btScalar ly=btScalar(2.)*(halfExtents.y()); + btScalar lz=btScalar(2.)*(halfExtents.z()); + + inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + lz*lz), + mass/(btScalar(12.0)) * (lx*lx + ly*ly)); + +} + |