From 3035ee69c463b6d6aaf9874ccc7c0474c243c266 Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Wed, 14 Dec 2011 11:18:11 +0000
Subject: [PATCH] Fix for btCapsuleShape, m_localScaling is already applied to
 the radius/halfExtents so don't apply it again in the
 localGetSupportVertex(NonVirtual) Make sure SerializeDemo compiles fine
 without DESERIALIZE_SOFT_BODIES defined

---
 Demos/SerializeDemo/SerializeDemo.cpp         | 28 ++++++++++++-------
 .../CollisionShapes/btCapsuleShape.cpp        |  8 +++---
 .../CollisionShapes/btConvexShape.cpp         |  4 +--
 3 files changed, 24 insertions(+), 16 deletions(-)

diff --git a/Demos/SerializeDemo/SerializeDemo.cpp b/Demos/SerializeDemo/SerializeDemo.cpp
index 8772f4616..9d6890879 100644
--- a/Demos/SerializeDemo/SerializeDemo.cpp
+++ b/Demos/SerializeDemo/SerializeDemo.cpp
@@ -84,11 +84,14 @@ void SerializeDemo::clientMoveAndDisplay()
 		
 		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
 
+#ifdef DESERIALIZE_SOFT_BODIES
 		if (fSoftBodySolver)
             fSoftBodySolver->copyBackToSoftBodies();
+#endif
 
 		m_dynamicsWorld->debugDrawWorld();
 
+#ifdef DESERIALIZE_SOFT_BODIES
 		if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
 		{
 			//optional but useful: debug drawing
@@ -104,6 +107,8 @@ void SerializeDemo::clientMoveAndDisplay()
 				}
 			}
 		}
+#endif //DESERIALIZE_SOFT_BODIES
+
 	}
 		
 	renderme(); 
@@ -121,20 +126,23 @@ void SerializeDemo::displayCallback(void) {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 	
 	if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
-		{
-			//optional but useful: debug drawing
-			btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
+	{
+#ifdef DESERIALIZE_SOFT_BODIES
 
-			for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		//optional but useful: debug drawing
+		btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
+
+		for (  int i=0;i<softWorld->getSoftBodyArray().size();i++)
+		{
+			btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
+			if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
 			{
-				btSoftBody*	psb=(btSoftBody*)softWorld->getSoftBodyArray()[i];
-				if (softWorld->getDebugDrawer() && !(softWorld->getDebugDrawer()->getDebugMode() & (btIDebugDraw::DBG_DrawWireframe)))
-				{
-					btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
-					btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
-				}
+				btSoftBodyHelpers::DrawFrame(psb,softWorld->getDebugDrawer());
+				btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
 			}
 		}
+#endif //DESERIALIZE_SOFT_BODIES
+	}
 
 	renderme();
 
diff --git a/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
index 2faa11d43..864df26e9 100644
--- a/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -55,7 +55,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btVector3 pos(0,0,0);
 		pos[getUpAxis()] = getHalfHeight();
 
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius) - vec * getMargin();
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -67,7 +67,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btVector3 pos(0,0,0);
 		pos[getUpAxis()] = -getHalfHeight();
 
-		vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius) - vec * getMargin();
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -96,7 +96,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		{
 			btVector3 pos(0,0,0);
 			pos[getUpAxis()] = getHalfHeight();
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+			vtx = pos +vec*(radius) - vec * getMargin();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
@@ -107,7 +107,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		{
 			btVector3 pos(0,0,0);
 			pos[getUpAxis()] = -getHalfHeight();
-			vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
+			vtx = pos +vec*(radius) - vec * getMargin();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
diff --git a/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
index 8e7d2cb29..e45981756 100644
--- a/src/BulletCollision/CollisionShapes/btConvexShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexShape.cpp
@@ -244,7 +244,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 			pos[capsuleUpAxis] = halfHeight;
 
 			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
 			newDot = vec.dot(vtx);
 			
 
@@ -259,7 +259,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 			pos[capsuleUpAxis] = -halfHeight;
 
 			//vtx = pos +vec*(radius);
-			vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{