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Properly set normalInWorldSpace and don't doubly rotate normal for convex vs. convex cast.

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Fixes this issue: http://www.bulletphysics.com/Bullet/phpBB3/viewtopic.php?f=9&t=1784
This commit is contained in:
johnmccutchan
2008-02-11 19:16:04 +00:00
parent fe4e81ebff
commit 1ac223ca2a
2 changed files with 6 additions and 8 deletions
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9
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -227,7 +227,7 @@ void btCollisionWorld::rayTestSingle(const btTransform& rayFromTrans,const btTra
btVoronoiSimplexSolver simplexSolver;
#define USE_SUBSIMPLEX_CONVEX_CAST 1
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
btSubsimplexConvexCast convexCaster(castShape,convexShape,&simplexSolver);
#else
//btGjkConvexCast convexCaster(castShape,convexShape,&simplexSolver);
//btContinuousConvexCollision convexCaster(castShape,convexShape,&simplexSolver,0);
@@ -412,11 +412,6 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
{
if (castResult.m_fraction < resultCallback.m_closestHitFraction)
{
#ifdef USE_SUBSIMPLEX_CONVEX_CAST
//rotate normal into worldspace
castResult.m_normal = convexFromTrans.getBasis() * castResult.m_normal;
#endif //USE_SUBSIMPLEX_CONVEX_CAST
castResult.m_normal.normalize();
btCollisionWorld::LocalConvexResult localConvexResult
(
@@ -477,7 +472,7 @@ void btCollisionWorld::objectQuerySingle(const btConvexShape* castShape,const bt
hitPointLocal,
hitFraction);
bool normalInWorldSpace = false;
bool normalInWorldSpace = true;
return m_resultCallback->AddSingleResult(convexResult,normalInWorldSpace);