Changeset 7983 for code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp

Timestamp:

Feb 27, 2011, 7:43:24 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet Physics Engine from v2.74 to v2.77

File:

• code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp (modified) (4 diffs)

code/branches/kicklib/src/external/bullet/BulletCollision/CollisionShapes/btCylinderShape.cpp

@@ -1 +1 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
 
 This software is provided 'as-is', without any express or implied warranty.
@@ -13 +13 @@
 3. This notice may not be removed or altered from any source distribution.
 */
+
 #include "btCylinderShape.h"
 
 btCylinderShape::btCylinderShape (const btVector3& halfExtents)
-:btBoxShape(halfExtents),
+:btConvexInternalShape(),
 m_upAxis(1)
 {
+        btVector3 margin(getMargin(),getMargin(),getMargin());
+        m_implicitShapeDimensions = (halfExtents * m_localScaling) - margin;
         m_shapeType = CYLINDER_SHAPE_PROXYTYPE;
-        recalcLocalAabb();
 }
 
@@ -28 +30 @@
 {
         m_upAxis = 0;
-        recalcLocalAabb();
+
 }
 
@@ -36 +38 @@
 {
         m_upAxis = 2;
-        recalcLocalAabb();
+
 }
 
 void btCylinderShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
 {
-        //skip the box 'getAabb'
-        btPolyhedralConvexShape::getAabb(t,aabbMin,aabbMax);
+        btTransformAabb(getHalfExtentsWithoutMargin(),getMargin(),t,aabbMin,aabbMax);
+}
+
+void    btCylinderShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
+{
+        //approximation of box shape, todo: implement cylinder shape inertia before people notice ;-)
+        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));
+
 }