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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 "btConvexShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types

///btConeShape implements a Cone shape, around the Y axis
00023 class btConeShape : public btConvexShape


      float m_sinAngle;
      float m_radius;
      float m_height;
      int         m_coneIndices[3];
      btVector3 coneLocalSupport(const btVector3& v) const;

      btConeShape (btScalar radius,btScalar height);
      virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
      virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec) const;
      virtual void      batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;

      float getRadius() const { return m_radius;}
      float getHeight() const { return m_height;}

      virtual void      calculateLocalInertia(btScalar mass,btVector3& inertia)
            btTransform identity;
            btVector3 aabbMin,aabbMax;

            btVector3 halfExtents = (aabbMax-aabbMin)*0.5f;

            float margin = getMargin();

            btScalar lx=2.f*(halfExtents.x()+margin);
            btScalar ly=2.f*(halfExtents.y()+margin);
            btScalar lz=2.f*(halfExtents.z()+margin);
            const btScalar x2 = lx*lx;
            const btScalar y2 = ly*ly;
            const btScalar z2 = lz*lz;
            const btScalar scaledmass = mass * 0.08333333f;

            inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));

//          inertia.x() = scaledmass * (y2+z2);
//          inertia.y() = scaledmass * (x2+z2);
//          inertia.z() = scaledmass * (x2+y2);

            virtual int getShapeType() const { return CONE_SHAPE_PROXYTYPE; }

            virtual char*     getName()const 
                  return "Cone";
            ///choose upAxis index
            void  setConeUpIndex(int upIndex);
            int   getConeUpIndex() const
                  return m_coneIndices[1];

///btConeShape implements a Cone shape, around the X axis
00090 class btConeShapeX : public btConeShape
            btConeShapeX(btScalar radius,btScalar height);

///btConeShapeZ implements a Cone shape, around the Z axis
00097 class btConeShapeZ : public btConeShape
            btConeShapeZ(btScalar radius,btScalar height);

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