forked from bartvdbraak/blender
78 lines
2.2 KiB
C++
78 lines
2.2 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "BoxShape.h"
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SimdVector3 BoxShape::GetHalfExtents() const
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{
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return m_boxHalfExtents1 * m_localScaling;
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}
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//{
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void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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SimdMatrix3x3 abs_b = t.getBasis().absolute();
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SimdPoint3 center = t.getOrigin();
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SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
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abs_b[1].dot(halfExtents),
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abs_b[2].dot(halfExtents));
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extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
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//todo: this is a quick fix, we need to enlarge the aabb dependent on several criteria
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//extent += SimdVector3(.2f,.2f,.2f);
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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float margin = 0.f;
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SimdVector3 halfExtents = GetHalfExtents();
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SimdScalar lx=2.f*(halfExtents.x());
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SimdScalar ly=2.f*(halfExtents.y());
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SimdScalar lz=2.f*(halfExtents.z());
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inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
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inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
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inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
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// float radius = GetHalfExtents().length();
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// SimdScalar elem = 0.4f * mass * radius*radius;
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// inertia[0] = inertia[1] = inertia[2] = elem;
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return;
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/*
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float margin = GetMargin();
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SimdVector3 halfExtents = GetHalfExtents();
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SimdScalar lx=2.f*(halfExtents.x()+margin);
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SimdScalar ly=2.f*(halfExtents.y()+margin);
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SimdScalar lz=2.f*(halfExtents.z()+margin);
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const SimdScalar x2 = lx*lx;
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const SimdScalar y2 = ly*ly;
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const SimdScalar z2 = lz*lz;
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const SimdScalar scaledmass = mass * 0.08333333f;
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inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
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*/
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// inertia.x() = scaledmass * (y2+z2);
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// inertia.y() = scaledmass * (x2+z2);
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// inertia.z() = scaledmass * (x2+y2);
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} |