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

Bullet Collision Detection & Physics Library

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