diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h | 36 |
1 files changed, 15 insertions, 21 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h index 4d4fbefea37..14502d485dc 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btBoxShape.h @@ -19,7 +19,7 @@ subject to the following restrictions: #include "btPolyhedralConvexShape.h" #include "btCollisionMargin.h" #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" -#include "LinearMath/btPoint3.h" +#include "LinearMath/btVector3.h" #include "LinearMath/btMinMax.h" ///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space. @@ -45,8 +45,6 @@ public: } - virtual int getShapeType() const { return BOX_SHAPE_PROXYTYPE;} - virtual btVector3 localGetSupportingVertex(const btVector3& vec) const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); @@ -82,8 +80,10 @@ public: } - btBoxShape( const btVector3& boxHalfExtents) + btBoxShape( const btVector3& boxHalfExtents) + : btPolyhedralConvexShape() { + m_shapeType = BOX_SHAPE_PROXYTYPE; btVector3 margin(getMargin(),getMargin(),getMargin()); m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin; }; @@ -117,7 +117,7 @@ public: virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const; - virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const + virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const { //this plane might not be aligned... btVector4 plane ; @@ -161,36 +161,30 @@ public: switch (i) { case 0: - plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.)); - plane[3] = -halfExtents.x(); + plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x()); break; case 1: - plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.)); - plane[3] = -halfExtents.x(); + plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x()); break; case 2: - plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.)); - plane[3] = -halfExtents.y(); + plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y()); break; case 3: - plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.)); - plane[3] = -halfExtents.y(); + plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y()); break; case 4: - plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.)); - plane[3] = -halfExtents.z(); + plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z()); break; case 5: - plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); - plane[3] = -halfExtents.z(); + plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z()); break; default: - assert(0); + btAssert(0); } } - virtual void getEdge(int i,btPoint3& pa,btPoint3& pb) const + virtual void getEdge(int i,btVector3& pa,btVector3& pb) const //virtual void getEdge(int i,Edge& edge) const { int edgeVert0 = 0; @@ -261,7 +255,7 @@ public: - virtual bool isInside(const btPoint3& pt,btScalar tolerance) const + virtual bool isInside(const btVector3& pt,btScalar tolerance) const { btVector3 halfExtents = getHalfExtentsWithoutMargin(); @@ -312,7 +306,7 @@ public: penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.)); break; default: - assert(0); + btAssert(0); } } |