| /* |
| Bullet Continuous Collision Detection and Physics Library |
| Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| #include "BulletCollision/CollisionShapes/btBoxShape.h" |
| |
| |
| //{ |
| |
| |
| void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const |
| { |
| btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); |
| } |
| |
| |
| void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const |
| { |
| //btScalar margin = btScalar(0.); |
| btVector3 halfExtents = getHalfExtentsWithMargin(); |
| |
| btScalar lx=btScalar(2.)*(halfExtents.x()); |
| btScalar ly=btScalar(2.)*(halfExtents.y()); |
| btScalar lz=btScalar(2.)*(halfExtents.z()); |
| |
| inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), |
| mass/(btScalar(12.0)) * (lx*lx + lz*lz), |
| mass/(btScalar(12.0)) * (lx*lx + ly*ly)); |
| |
| } |
| |