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