52 lines
1.8 KiB
C++
52 lines
1.8 KiB
C++
/*
|
|
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));
|
|
|
|
}
|
|
|