Bullet Collision Detection & Physics Library
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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:
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 */
16 #include "btBox2dShape.h"
19 //{
22 void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
23 {
25 }
29 {
30  //btScalar margin = btScalar(0.);
31  btVector3 halfExtents = getHalfExtentsWithMargin();
33  btScalar lx=btScalar(2.)*(halfExtents.x());
34  btScalar ly=btScalar(2.)*(halfExtents.y());
35  btScalar lz=btScalar(2.)*(halfExtents.z());
37  inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
38  mass/(btScalar(12.0)) * (lx*lx + lz*lz),
39  mass/(btScalar(12.0)) * (lx*lx + ly*ly));
41 }
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:652
virtual btScalar getMargin() const
const btScalar & x() const
Return the x value.
Definition: btVector3.h:587
const btScalar & y() const
Return the y value.
Definition: btVector3.h:589
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
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
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBox2dShape.h:47
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:182
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...
btVector3 getHalfExtentsWithMargin() const
Definition: btBox2dShape.h:39
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
const btScalar & z() const
Return the z value.
Definition: btVector3.h:591