void btCylinderShapeX::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
{
for (int i=0;i<numVectors;i++)
{
supportVerticesOut[i] = CylinderLocalSupportX(getHalfExtents(),vectors[i]);
}
}
bool OrientedBox3F::isContained( const Point3F& point ) const
{
Point3F distToCenter = point - getCenter();
for( U32 i = 0; i < 3; ++ i )
{
F32 coeff = mDot( distToCenter, getAxis( i ) );
if( mFabs( coeff ) > getHalfExtents()[ i ] )
return false;
}
return true;
}
void btBoxShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
{
//btScalar margin = btScalar(0.);
btVector3 halfExtents = getHalfExtents();
btScalar lx=btScalar(2.)*(halfExtents.x());
btScalar ly=btScalar(2.)*(halfExtents.y());
btScalar lz=btScalar(2.)*(halfExtents.z());
inertia.setValue(mass/(btScalar(12.0)) * (ly*ly + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + lz*lz),
mass/(btScalar(12.0)) * (lx*lx + ly*ly));
}
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 halfExtents = getHalfExtents();
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
btVector3 btCylinderShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
{
return CylinderLocalSupportY(getHalfExtents(),vec);
}