some minor comment-renames, and moved some data from box/sphere into common convex.

src/BulletCollision/CollisionShapes/btBoxShape.cpp

@@ -17,7 +17,7 @@ subject to the following restrictions:
 
 btVector3 btBoxShape::getHalfExtents() const
 {
-	return m_boxHalfExtents1 * m_localScaling;
+	return m_implicitShapeDimensions * m_localScaling;
 }
 //{ 
 

src/BulletCollision/CollisionShapes/btBoxShape.h

@@ -22,21 +22,17 @@ subject to the following restrictions:
 #include "LinearMath/btPoint3.h"
 #include "LinearMath/btSimdMinMax.h"
 
-///BoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
+///btBoxShape implements both a feature based (vertex/edge/plane) and implicit (getSupportingVertex) Box
 class btBoxShape: public btPolyhedralConvexShape
 {
 
-	btVector3	m_boxHalfExtents1;
+	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
 
 
 public:
 
 	btVector3 getHalfExtents() const;
-	//{ return m_boxHalfExtents1 * m_localScaling;}
- 	//const btVector3& getHalfExtents() const{ return m_boxHalfExtents1;}
-
-
-	
+		
 	virtual int	getShapeType() const { return BOX_SHAPE_PROXYTYPE;}
 
 	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
@@ -81,7 +77,10 @@ public:
 	}
 
 
-	btBoxShape( const btVector3& boxHalfExtents) :  m_boxHalfExtents1(boxHalfExtents){};
+	btBoxShape( const btVector3& boxHalfExtents)
+	{
+		m_implicitShapeDimensions = boxHalfExtents;
+	};
 	
 	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
 

src/BulletCollision/CollisionShapes/btConvexShape.h

@@ -33,6 +33,16 @@ struct btConvexCastResult;
 /// used in combination with GJK or btConvexCast
 class btConvexShape : public btCollisionShape
 {
+	
+protected:
+
+	//local scaling. collisionMargin is not scaled !
+	btVector3	m_localScaling;
+
+	btVector3	m_implicitShapeDimensions;
+	
+	btScalar	m_collisionMargin;
+
 public:
 	btConvexShape();
 
@@ -42,7 +52,10 @@ public:
 	//notice that the vectors should be unit length
 	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const= 0;
 
-	// testing for hullnode code
+	const btVector3& getImplicitShapeDimensions() const
+	{
+		return m_implicitShapeDimensions;
+	}
 
 	///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
 	void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
@@ -70,11 +83,7 @@ public:
 	{
 		return m_collisionMargin;
 	}
-private:
-	btScalar	m_collisionMargin;
-	//local scaling. collisionMargin is not scaled !
-protected:
-	btVector3	m_localScaling;
+
 
 };
 

src/BulletCollision/CollisionShapes/btMultiSphereShape.h

@@ -21,7 +21,7 @@ subject to the following restrictions:
 
 #define MAX_NUM_SPHERES 5
 
-///MultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
+///btMultiSphereShape represents implicit convex hull of a collection of spheres (using getSupportingVertex)
 class btMultiSphereShape : public btConvexShape
 
 {

src/BulletCollision/CollisionShapes/btSphereShape.cpp

@@ -20,8 +20,8 @@ subject to the following restrictions:
 
 
 btSphereShape ::btSphereShape (btScalar radius)
-: m_radius(radius)
-{	
+{
+	m_implicitShapeDimensions.setX(radius);
 }
 
 btVector3	btSphereShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const

src/BulletCollision/CollisionShapes/btSphereShape.h

@@ -19,11 +19,10 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" // for the types
 
-///SphereShape implements an implicit (getSupportingVertex) Sphere
+///btSphereShape implements an implicit (getSupportingVertex) Sphere
 class btSphereShape : public btConvexShape
 
 {
-	btScalar m_radius;
 	
 public:
 	btSphereShape (btScalar radius);
@@ -41,7 +40,7 @@ public:
 
 	virtual int	getShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
-	btScalar	getRadius() const { return m_radius;}
+	btScalar	getRadius() const { return m_implicitShapeDimensions.getX();}
 
 	//debugging
 	virtual char*	getName()const {return "SPHERE";}
@@ -54,7 +53,7 @@ public:
 	{
 		//to improve gjk behaviour, use radius+margin as the full margin, so never get into the penetration case
 		//this means, non-uniform scaling is not supported anymore
-		return m_localScaling[0] * m_radius + btConvexShape::getMargin();
+		return m_localScaling.getX() * getRadius() + btConvexShape::getMargin();
 	}