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more fixes for btCapsuleShape: its entire radius is collision margin, don't let the user override it (similar to a btSphereShape)

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This commit is contained in:
Erwin Coumans
2017-01-23 19:38:14 -08:00
parent fac943d9c7
commit 0060c42ae8
2 changed files with 9 additions and 19 deletions
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19
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@@ -19,10 +19,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btCollisionMargin.h" #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h" #include "LinearMath/btQuaternion.h"
btCapsuleShape::btCapsuleShape(btScalar orgRadius, btScalar height) : btConvexInternalShape () btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
{ {
m_collisionMargin = orgRadius; m_collisionMargin = radius;
btScalar radius = 0.f;
m_shapeType = CAPSULE_SHAPE_PROXYTYPE; m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
m_upAxis = 1; m_upAxis = 1;
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius); m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
@@ -98,7 +97,7 @@ btCapsuleShape::btCapsuleShape(btScalar orgRadius, btScalar height) : btConvexIn
{ {
btVector3 pos(0,0,0); btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight(); pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin(); vtx = pos +vec*(radius);
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)
{ {
@@ -109,7 +108,7 @@ btCapsuleShape::btCapsuleShape(btScalar orgRadius, btScalar height) : btConvexIn
{ {
btVector3 pos(0,0,0); btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight(); pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin(); vtx = pos +vec*(radius);
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)
{ {
@@ -151,10 +150,9 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
} }
btCapsuleShapeX::btCapsuleShapeX(btScalar orgRadius,btScalar height) btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
{ {
m_collisionMargin = orgRadius; m_collisionMargin = radius;
btScalar radius = 0.f;
m_upAxis = 0; m_upAxis = 0;
m_implicitShapeDimensions.setValue(0.5f*height, radius,radius); m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
} }
@@ -164,10 +162,9 @@ btCapsuleShapeX::btCapsuleShapeX(btScalar orgRadius,btScalar height)
btCapsuleShapeZ::btCapsuleShapeZ(btScalar orgRadius,btScalar height) btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
{ {
m_collisionMargin = orgRadius; m_collisionMargin = radius;
btScalar radius = 0.f;
m_upAxis = 2; m_upAxis = 2;
m_implicitShapeDimensions.setValue(radius,radius,0.5f*height); m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
} }

9
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -48,14 +48,7 @@ public:
virtual void setMargin(btScalar collisionMargin) virtual void setMargin(btScalar collisionMargin)
{ {
//correct the m_implicitShapeDimensions for the margin //don't override the margin for capsules, their entire radius == margin
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btConvexInternalShape::setMargin(collisionMargin);
btVector3 newMargin(getMargin(),getMargin(),getMargin());
m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
} }
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const