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Fix regression issue: transform is not identity in case of softbody colliding against btCompoundShape.

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Fix issue 512
This commit is contained in:
erwin.coumans
2011-05-11 20:51:57 +00:00
parent cce582d905
commit 20e95be9cd
1 changed files with 17 additions and 3 deletions
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20
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -70,9 +70,23 @@ public:
///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
/* t should be identity */
aabbMin=m_body->m_bounds[0];
aabbMax=m_body->m_bounds[1];
/* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */
const btVector3 mins=m_body->m_bounds[0];
const btVector3 maxs=m_body->m_bounds[1];
const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
t*btVector3(maxs.x(),mins.y(),mins.z()),
t*btVector3(maxs.x(),maxs.y(),mins.z()),
t*btVector3(mins.x(),maxs.y(),mins.z()),
t*btVector3(mins.x(),mins.y(),maxs.z()),
t*btVector3(maxs.x(),mins.y(),maxs.z()),
t*btVector3(maxs.x(),maxs.y(),maxs.z()),
t*btVector3(mins.x(),maxs.y(),maxs.z())};
aabbMin=aabbMax=crns[0];
for(int i=1;i<8;++i)
{
aabbMin.setMin(crns[i]);
aabbMax.setMax(crns[i]);
}
}