Blender  V3.3
btBoxShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 #include "btBoxShape.h"
16 
17 btBoxShape::btBoxShape(const btVector3& boxHalfExtents)
19 {
20  m_shapeType = BOX_SHAPE_PROXYTYPE;
21 
22  btVector3 margin(getMargin(), getMargin(), getMargin());
23  m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
24 
25  setSafeMargin(boxHalfExtents);
26 };
27 
28 void btBoxShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
29 {
30  btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
31 }
32 
33 void btBoxShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
34 {
35  //btScalar margin = btScalar(0.);
36  btVector3 halfExtents = getHalfExtentsWithMargin();
37 
38  btScalar lx = btScalar(2.) * (halfExtents.x());
39  btScalar ly = btScalar(2.) * (halfExtents.y());
40  btScalar lz = btScalar(2.) * (halfExtents.z());
41 
42  inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
43  mass / (btScalar(12.0)) * (lx * lx + lz * lz),
44  mass / (btScalar(12.0)) * (lx * lx + ly * ly));
45 }
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SIMD_FORCE_INLINE void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBox2dShape.h:46
btVector3 getHalfExtentsWithMargin() const
Definition: btBox2dShape.h:38
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btConeShape.h:54
virtual void getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const
getAabb's default implementation is brute force, expected derived classes to implement a fast dedicat...
btBoxShape(const btVector3 &boxHalfExtents)
Definition: btBoxShape.cpp:17
@ BOX_SHAPE_PROXYTYPE
virtual btScalar getMargin() const =0
btVector3 m_localScaling
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
btVector3 m_implicitShapeDimensions
btPolyhedralConvexShape()
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-by...
Definition: btVector3.h:82