1 files changed, 100 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
new file mode 100644
index 00000000000..88ae8c7dfd4
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+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCompoundShape.cpp
@@ -0,0 +1,100 @@
+/*
+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 "btCompoundShape.h"
+
+
+#include "btCollisionShape.h"
+
+
+btCompoundShape::btCompoundShape()
+:m_localAabbMin(1e30f,1e30f,1e30f),
+m_localAabbMax(-1e30f,-1e30f,-1e30f),
+m_aabbTree(0),
+m_collisionMargin(0.f),
+m_localScaling(1.f,1.f,1.f)
+{
+}
+
+
+btCompoundShape::~btCompoundShape()
+{
+}
+
+void	btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
+{
+	m_childTransforms.push_back(localTransform);
+	m_childShapes.push_back(shape);
+
+	//extend the local aabbMin/aabbMax
+	btVector3 localAabbMin,localAabbMax;
+	shape->getAabb(localTransform,localAabbMin,localAabbMax);
+	for (int i=0;i<3;i++)
+	{
+		if (m_localAabbMin[i] > localAabbMin[i])
+		{
+			m_localAabbMin[i] = localAabbMin[i];
+		}
+		if (m_localAabbMax[i] < localAabbMax[i])
+		{
+			m_localAabbMax[i] = localAabbMax[i];
+		}
+
+	}
+}
+
+
+
+	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
+void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
+{
+	btVector3 localHalfExtents = 0.5f*(m_localAabbMax-m_localAabbMin);
+	btVector3 localCenter = 0.5f*(m_localAabbMax+m_localAabbMin);
+	
+	btMatrix3x3 abs_b = trans.getBasis().absolute();  
+
+	btPoint3 center = trans(localCenter);
+
+	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
+		   abs_b[1].dot(localHalfExtents),
+		  abs_b[2].dot(localHalfExtents));
+	extent += btVector3(getMargin(),getMargin(),getMargin());
+
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+}
+
+void	btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+{
+	//approximation: take the inertia from the aabb for now
+	btTransform ident;
+	ident.setIdentity();
+	btVector3 aabbMin,aabbMax;
+	getAabb(ident,aabbMin,aabbMax);
+	
+	btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;
+	
+	btScalar lx=2.f*(halfExtents.x());
+	btScalar ly=2.f*(halfExtents.y());
+	btScalar lz=2.f*(halfExtents.z());
+
+	inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
+	inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
+	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
+
+}
+
+	
+