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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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"
SimdVector3 BoxShape::GetHalfExtents() const
{
return m_boxHalfExtents1 * m_localScaling;
}
//{
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());
aabbMin = center - extent;
aabbMax = center + extent;
}
void BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
{
float margin = 0.f;
SimdVector3 halfExtents = GetHalfExtents();
SimdScalar lx=2.f*(halfExtents.x());
SimdScalar ly=2.f*(halfExtents.y());
SimdScalar 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);
}
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