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+ capsule should subtract margin, and take local scaling into account.

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+ boxshape uses btFsels
+ add assert in btGjkPairDetector that the new non-virtual method produces the same result as old non-virtual
This commit is contained in:
erwin.coumans
2008-09-30 18:37:01 +00:00
parent 9f28b2bc12
commit 0ff15db3f3
2 changed files with 30 additions and 5 deletions
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14
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -67,9 +67,9 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btConvexInternalShape* convexShape = (btConvexInternalShape*)this;
const btVector3& halfExtents = convexShape->getImplicitShapeDimensions();
return btVector3(localDir.getX() < 0.0f ? -halfExtents.x() : halfExtents.x(),
localDir.getY() < 0.0f ? -halfExtents.y() : halfExtents.y(),
localDir.getZ() < 0.0f ? -halfExtents.z() : halfExtents.z());
return btVector3(btFsels(localDir.x(), halfExtents.x(), -halfExtents.x()),
btFsels(localDir.y(), halfExtents.y(), -halfExtents.y()),
btFsels(localDir.z(), halfExtents.z(), -halfExtents.z()));
}
break;
case TRIANGLE_SHAPE_PROXYTYPE:
@@ -173,8 +173,11 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = halfHeight;
vtx = pos +vec*(radius);
//vtx = pos +vec*(radius);
vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
maxDot = newDot;
@@ -185,7 +188,8 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = -halfHeight;
vtx = pos +vec*(radius);
//vtx = pos +vec*(radius);
vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
newDot = vec.dot(vtx);
if (newDot > maxDot)
{