Bullet Collision Detection & Physics Library: btBox2dShape.cpp Source File

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btBox2dShape.cpp
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#include "btBox2dShape.h"
17
18//{
19
20 void btBox2dShape::getAabb(const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
21{
22 btTransformAabb(getHalfExtentsWithoutMargin(), getMargin(), t, aabbMin, aabbMax);
23}
24
25 void btBox2dShape::calculateLocalInertia(btScalar mass, btVector3& inertia) const
26{
27 //btScalar margin = btScalar(0.);
28 btVector3 halfExtents = getHalfExtentsWithMargin();
29
30 btScalar lx = btScalar(2.) * (halfExtents.x());
31 btScalar ly = btScalar(2.) * (halfExtents.y());
32 btScalar lz = btScalar(2.) * (halfExtents.z());
33
34 inertia.setValue(mass / (btScalar(12.0)) * (ly * ly + lz * lz),
35 mass / (btScalar(12.0)) * (lx * lx + lz * lz),
36 mass / (btScalar(12.0)) * (lx * lx + ly * ly));
37}
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btBox2dShape.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btBox2dShape::calculateLocalInertia
virtual void calculateLocalInertia(btScalar mass, btVector3 &inertia) const
Definition: btBox2dShape.cpp:25
btBox2dShape::getHalfExtentsWithoutMargin
const btVector3 & getHalfExtentsWithoutMargin() const
Definition: btBox2dShape.h:46
btBox2dShape::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: btBox2dShape.cpp:20
btBox2dShape::getHalfExtentsWithMargin
btVector3 getHalfExtentsWithMargin() const
Definition: btBox2dShape.h:38
btConvexInternalShape::getMargin
virtual btScalar getMargin() const
Definition: btConvexInternalShape.h:106
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::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
btVector3::y
const btScalar & y() const
Return the y value.
Definition: btVector3.h:577