btBoxShape.cpp

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 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.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 #include "btBoxShape.h"
00016 
00017 btBoxShape::btBoxShape( const btVector3& boxHalfExtents) 
00018 : btPolyhedralConvexShape()
00019 {
00020         m_shapeType = BOX_SHAPE_PROXYTYPE;
00021 
00022         setSafeMargin(boxHalfExtents);
00023 
00024         btVector3 margin(getMargin(),getMargin(),getMargin());
00025         m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
00026 };
00027 
00028 
00029 
00030 
00031 void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
00032 {
00033         btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
00034 }
00035 
00036 
00037 void    btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00038 {
00039         //btScalar margin = btScalar(0.);
00040         btVector3 halfExtents = getHalfExtentsWithMargin();
00041 
00042         btScalar lx=btScalar(2.)*(halfExtents.x());
00043         btScalar ly=btScalar(2.)*(halfExtents.y());
00044         btScalar lz=btScalar(2.)*(halfExtents.z());
00045 
00046         inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
00047                                         mass/(btScalar(12.0)) * (lx*lx + lz*lz),
00048                                         mass/(btScalar(12.0)) * (lx*lx + ly*ly));
00049 
00050 }
00051