1 files changed, 34 insertions, 0 deletions
diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
new file mode 100644
index 00000000000..4edd8cf9a12
--- /dev/null
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -0,0 +1,34 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+ */
+
+#include "BoxShape.h"
+
+
+void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
+{
+	SimdVector3 halfExtents = GetHalfExtents();
+
+	SimdMatrix3x3 abs_b = t.getBasis().absolute();  
+	SimdPoint3 center = t.getOrigin();
+	SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
+		   abs_b[1].dot(halfExtents),
+		  abs_b[2].dot(halfExtents));
+	extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
+
+
+	//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
+	//extent += SimdVector3(.2f,.2f,.2f);
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
+
+}