diff options
Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp | 30 |
1 files changed, 12 insertions, 18 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp index 72eeb38911..cb91d023e4 100644 --- a/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp +++ b/thirdparty/bullet/BulletCollision/CollisionShapes/btBoxShape.cpp @@ -14,38 +14,32 @@ subject to the following restrictions: */ #include "btBoxShape.h" -btBoxShape::btBoxShape( const btVector3& boxHalfExtents) -: btPolyhedralConvexShape() +btBoxShape::btBoxShape(const btVector3& boxHalfExtents) + : btPolyhedralConvexShape() { m_shapeType = BOX_SHAPE_PROXYTYPE; - btVector3 margin(getMargin(),getMargin(),getMargin()); + btVector3 margin(getMargin(), getMargin(), getMargin()); m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; setSafeMargin(boxHalfExtents); }; - - - -void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const +void btBoxShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const { - btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); + btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax); } - -void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const +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)); + 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)); } - |