Bullet Collision Detection & Physics Library
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 {
21 
22  setSafeMargin(boxHalfExtents);
23 
24  btVector3 margin(getMargin(),getMargin(),getMargin());
25  m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
26 };
27 
28 
29 
30 
31 void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
32 {
34 }
35 
36 
38 {
39  //btScalar margin = btScalar(0.);
40  btVector3 halfExtents = getHalfExtentsWithMargin();
41 
42  btScalar lx=btScalar(2.)*(halfExtents.x());
43  btScalar ly=btScalar(2.)*(halfExtents.y());
44  btScalar lz=btScalar(2.)*(halfExtents.z());
45 
46  inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
47  mass/(btScalar(12.0)) * (lx*lx + lz*lz),
48  mass/(btScalar(12.0)) * (lx*lx + ly*ly));
49 
50 }
51 
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3 getHalfExtentsWithMargin() const
Definition: btBoxShape.h:36
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...
Definition: btBoxShape.cpp:31
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBoxShape.h:44
virtual btScalar getMargin() const
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btBoxShape(const btVector3 &boxHalfExtents)
Definition: btBoxShape.cpp:17
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btBoxShape.cpp:37
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579