Bullet Collision Detection & Physics Library: btBoxShape.cpp Source File

Bullet Collision Detection & Physics Library

btBoxShape.cpp
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
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:
10
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 */
15 #include "btBoxShape.h"
16
17 btBoxShape::btBoxShape(const btVector3& boxHalfExtents)
18 : btPolyhedralConvexShape()
19 {
20 m_shapeType = BOX_SHAPE_PROXYTYPE;
21
22 btVector3 margin(getMargin(), getMargin(), getMargin());
23 m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
24
25 setSafeMargin(boxHalfExtents);
26 };
27
28 void btBoxShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
29 {
30 btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
31 }
32
33 void btBoxShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
34 {
35 //btScalar margin = btScalar(0.);
36 btVector3 halfExtents = getHalfExtentsWithMargin();
37
38 btScalar lx = btScalar(2.) * (halfExtents.x());
39 btScalar ly = btScalar(2.) * (halfExtents.y());
40 btScalar lz = btScalar(2.) * (halfExtents.z());
41
42 inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
43 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
44 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
45 }
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btBoxShape.h
BOX_SHAPE_PROXYTYPE
@ BOX_SHAPE_PROXYTYPE
Definition: btBroadphaseProxy.h:30
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btBoxShape::getHalfExtentsWithMargin
btVector3 getHalfExtentsWithMargin() const
Definition: btBoxShape.h:34
btBoxShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btBoxShape.cpp:33
btBoxShape::getAabb
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...
Definition: btBoxShape.cpp:28
btBoxShape::getHalfExtentsWithoutMargin
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBoxShape.h:42
btBoxShape::btBoxShape
btBoxShape(const btVector3 &boxHalfExtents)
Definition: btBoxShape.cpp:17
btCollisionShape::m_shapeType
int m_shapeType
Definition: btCollisionShape.h:30
btConvexInternalShape::m_localScaling
btVector3 m_localScaling
Definition: btConvexInternalShape.h:33
btConvexInternalShape::m_implicitShapeDimensions
btVector3 m_implicitShapeDimensions
Definition: btConvexInternalShape.h:35
btConvexInternalShape::setSafeMargin
void setSafeMargin(btScalar minDimension, btScalar defaultMarginMultiplier=0.1f)
Definition: btConvexInternalShape.h:66
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
btPolyhedralConvexShape
The btPolyhedralConvexShape is an internal interface class for polyhedral convex shapes.
Definition: btPolyhedralConvexShape.h:26
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577
btVector3::z
const btScalar & z() const
Return the z value.
Definition: btVector3.h:579
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::x
const btScalar & x() const
Return the x value.
Definition: btVector3.h:575