/* | |
Bullet Continuous Collision Detection and Physics Library | |
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ | |
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/btBox2dShape.h" | |
//{ | |
void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const | |
{ | |
btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); | |
} | |
void btBox2dShape::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)); | |
} | |