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supertuxkart  0.5+dfsg1
btBoxShape.cpp
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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
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 
00016 #include "btBoxShape.h"
00017 
00018 
00019 //{ 
00020 
00021 
00022 void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
00023 {
00024        const btVector3& halfExtents = getHalfExtentsWithoutMargin();
00025 
00026        btMatrix3x3 abs_b = t.getBasis().absolute();  
00027        btPoint3 center = t.getOrigin();
00028        btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
00029                  abs_b[1].dot(halfExtents),
00030                 abs_b[2].dot(halfExtents));
00031        extent += btVector3(getMargin(),getMargin(),getMargin());
00032 
00033        aabbMin = center - extent;
00034        aabbMax = center + extent;
00035 
00036 
00037 }
00038 
00039 
00040 void   btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
00041 {
00042        //btScalar margin = btScalar(0.);
00043        btVector3 halfExtents = getHalfExtentsWithMargin();
00044 
00045        btScalar lx=btScalar(2.)*(halfExtents.x());
00046        btScalar ly=btScalar(2.)*(halfExtents.y());
00047        btScalar lz=btScalar(2.)*(halfExtents.z());
00048 
00049        inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
00050                                    mass/(btScalar(12.0)) * (lx*lx + lz*lz),
00051                                    mass/(btScalar(12.0)) * (lx*lx + ly*ly));
00052 
00053 }
00054