Added btUniformScalingShape (including support for debug rendering etc)

This allows to re-use a convex shape, while each instance can re-scale it (with a uniform scalar factor)

Demos/OpenGL/DemoApplication.cpp

@@ -23,6 +23,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
 
 #include "GL_ShapeDrawer.h"
 #include "LinearMath/btQuickprof.h"
@@ -449,8 +450,13 @@ void	DemoApplication::shootBox(const btVector3& destination)
 		startTransform.setIdentity();
 		btVector3 camPos = getCameraPosition();
 		startTransform.setOrigin(camPos);
-		//btCollisionShape* boxShape = new btSphereShape(1);
-		btCollisionShape* boxShape = new btBoxShape(btVector3(1.f,1.f,1.f));
+//#define TEST_UNIFORM_SCALING_SHAPE 1
+#ifdef TEST_UNIFORM_SCALING_SHAPE
+		btConvexShape* childShape = new btBoxShape(btVector3(1.f,1.f,1.f));
+		btUniformScalingShape* boxShape = new btUniformScalingShape(childShape,0.5f);
+#else
+		btCollisionShape* boxShape = new btSphereShape(1);
+#endif//
 		btRigidBody* body = this->localCreateRigidBody(mass, startTransform,boxShape);
 
 		btVector3 linVel(destination[0]-camPos[0],destination[1]-camPos[1],destination[2]-camPos[2]);

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -38,6 +38,8 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btCompoundShape.h"
 #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btUniformScalingShape.h"
+
 
 
 #include "LinearMath/btIDebugDraw.h"
@@ -313,6 +315,23 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 	glPushMatrix(); 
   btglMultMatrix(m);
 
+	if (shape->getShapeType() == UNIFORM_SCALING_SHAPE_PROXYTYPE)
+	{
+		const btUniformScalingShape* scalingShape = static_cast<const btUniformScalingShape*>(shape);
+		const btConvexShape* convexShape = scalingShape->getChildShape();
+		float	scalingFactor = (float)scalingShape->getUniformScalingFactor();
+		{
+			btScalar tmpScaling[4][4]={scalingFactor,0,0,0,
+				0,scalingFactor,0,0,
+				0,0,scalingFactor,0,
+				0,0,0,1};
+			
+			drawOpenGL( (btScalar*)tmpScaling,convexShape,color,debugMode);
+		}
+		glPopMatrix();
+		return;
+	}
+
 	if (shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE)
 	{
 		const btCompoundShape* compoundShape = static_cast<const btCompoundShape*>(shape);

Demos/RagdollDemo/RagdollDemo.cpp

@@ -21,7 +21,13 @@ Written by: Marten Svanfeldt
 #include "GlutStuff.h"
 #include "GL_ShapeDrawer.h"
 
+#include "LinearMath/btIDebugDraw.h"
+
+#include "GLDebugDrawer.h"
 #include "RagdollDemo.h"
+
+GLDebugDrawer debugDrawer;
+
 #define M_PI       3.14159265358979323846
 #define M_PI_2     1.57079632679489661923
 #define M_PI_4     0.785398163397448309616
@@ -311,6 +317,8 @@ void RagdollDemo::initPhysics()
 
 	m_dynamicsWorld = new btDiscreteDynamicsWorld(dispatcher,overlappingPairCache,solver);
 
+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);
+
 	// Setup a big ground box
 	{
 		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(10.),btScalar(200.)));

src/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h

@@ -38,6 +38,7 @@ IMPLICIT_CONVEX_SHAPES_START_HERE,
 	CONE_SHAPE_PROXYTYPE,
 	CONVEX_SHAPE_PROXYTYPE,
 	CYLINDER_SHAPE_PROXYTYPE,
+	UNIFORM_SCALING_SHAPE_PROXYTYPE,
 	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
 	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
 //concave shapes

src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp

@@ -0,0 +1,53 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 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 "btUniformScalingShape.h"
+
+btUniformScalingShape::btUniformScalingShape(	btConvexShape* convexChildShape,btScalar uniformScalingFactor):
+m_childConvexShape(convexChildShape),
+m_uniformScalingFactor(uniformScalingFactor)
+{
+}
+	
+btUniformScalingShape::~btUniformScalingShape()
+{
+}
+	
+
+btVector3	btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
+{
+	btVector3 tmpVertex;
+	tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
+	return tmpVertex*m_uniformScalingFactor;
+}
+
+void	btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
+{
+	m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
+	int i;
+	for (i=0;i<numVectors;i++)
+	{
+		supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
+	}
+}
+
+void	btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+{
+
+	///this linear upscaling is not realistic, but we don't deal with large mass ratios...
+	btVector3 tmpInertia;
+	m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
+	inertia = tmpInertia * m_uniformScalingFactor;
+}

src/BulletCollision/CollisionShapes/btUniformScalingShape.h

@@ -0,0 +1,64 @@
+/*
+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.
+*/
+
+#ifndef BT_UNIFORM_SCALING_SHAPE_H
+#define BT_UNIFORM_SCALING_SHAPE_H
+
+#include "btConvexShape.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
+
+class btUniformScalingShape : public btConvexShape
+{
+	btConvexShape*	m_childConvexShape;
+
+	btScalar	m_uniformScalingFactor;
+	
+	public:
+	
+	btUniformScalingShape(	btConvexShape* convexChildShape, btScalar uniformScalingFactor);
+	
+	virtual ~btUniformScalingShape();
+	
+	virtual btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const;
+
+	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const;
+
+	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia);
+
+	btScalar	getUniformScalingFactor() const
+	{
+		return m_uniformScalingFactor;
+	}
+
+	btConvexShape*	getChildShape() 
+	{
+		return m_childConvexShape;
+	}
+
+	const btConvexShape*	getChildShape() const
+	{
+		return m_childConvexShape;
+	}
+
+	virtual char*	getName()const 
+	{
+		return "UniformScalingShape";
+	}
+	
+	virtual int	getShapeType() const { return UNIFORM_SCALING_SHAPE_PROXYTYPE; }
+	
+};
+
+#endif //BT_UNIFORM_SCALING_SHAPE_H