Blender V2.61 - r43446
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00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #include "btBox2dShape.h" 00017 00018 00019 //{ 00020 00021 00022 void btBox2dShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const 00023 { 00024 btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax); 00025 } 00026 00027 00028 void btBox2dShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const 00029 { 00030 //btScalar margin = btScalar(0.); 00031 btVector3 halfExtents = getHalfExtentsWithMargin(); 00032 00033 btScalar lx=btScalar(2.)*(halfExtents.x()); 00034 btScalar ly=btScalar(2.)*(halfExtents.y()); 00035 btScalar lz=btScalar(2.)*(halfExtents.z()); 00036 00037 inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz), 00038 mass/(btScalar(12.0)) * (lx*lx + lz*lz), 00039 mass/(btScalar(12.0)) * (lx*lx + ly*ly)); 00040 00041 } 00042