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Fix for btCapsuleShape, m_localScaling is already applied to the radius/halfExtents so don't apply it again in the localGetSupportVertex(NonVirtual)

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Make sure SerializeDemo compiles fine without DESERIALIZE_SOFT_BODIES defined
This commit is contained in:
erwin.coumans
2011-12-14 11:18:11 +00:00
parent dacb24e968
commit 3035ee69c4
3 changed files with 24 additions and 16 deletions
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8
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -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();
@@ -122,6 +127,8 @@ void SerializeDemo::displayCallback(void) {
if (m_dynamicsWorld->getWorldType()==BT_SOFT_RIGID_DYNAMICS_WORLD)
{
#ifdef DESERIALIZE_SOFT_BODIES
//optional but useful: debug drawing
btSoftRigidDynamicsWorld* softWorld = (btSoftRigidDynamicsWorld*)m_dynamicsWorld;
@@ -134,6 +141,7 @@ void SerializeDemo::displayCallback(void) {
btSoftBodyHelpers::Draw(psb,softWorld->getDebugDrawer(),softWorld->getDrawFlags());
}
}
#endif //DESERIALIZE_SOFT_BODIES
}
renderme();

8
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
View File

@@ -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)
{

4
src/BulletCollision/CollisionShapes/btConvexShape.cpp
View File

@@ -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)
{