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Diffstat (limited to 'thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h | 56 |
1 files changed, 0 insertions, 56 deletions
diff --git a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h b/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h deleted file mode 100644 index 1cde46ed8b..0000000000 --- a/thirdparty/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h +++ /dev/null @@ -1,56 +0,0 @@ -/*! \file btGImpactMassUtil.h -\author Francisco Leon Najera -*/ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -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. -*/ - -#ifndef GIMPACT_MASS_UTIL_H -#define GIMPACT_MASS_UTIL_H - -#include "LinearMath/btTransform.h" - -SIMD_FORCE_INLINE btVector3 gim_inertia_add_transformed( - const btVector3& source_inertia, const btVector3& added_inertia, const btTransform& transform) -{ - btMatrix3x3 rotatedTensor = transform.getBasis().scaled(added_inertia) * transform.getBasis().transpose(); - - btScalar x2 = transform.getOrigin()[0]; - x2 *= x2; - btScalar y2 = transform.getOrigin()[1]; - y2 *= y2; - btScalar z2 = transform.getOrigin()[2]; - z2 *= z2; - - btScalar ix = rotatedTensor[0][0] * (y2 + z2); - btScalar iy = rotatedTensor[1][1] * (x2 + z2); - btScalar iz = rotatedTensor[2][2] * (x2 + y2); - - return btVector3(source_inertia[0] + ix, source_inertia[1] + iy, source_inertia[2] + iz); -} - -SIMD_FORCE_INLINE btVector3 gim_get_point_inertia(const btVector3& point, btScalar mass) -{ - btScalar x2 = point[0] * point[0]; - btScalar y2 = point[1] * point[1]; - btScalar z2 = point[2] * point[2]; - return btVector3(mass * (y2 + z2), mass * (x2 + z2), mass * (x2 + y2)); -} - -#endif //GIMPACT_MESH_SHAPE_H |