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Fix previous commit, accidently removed some aabbMin/aabbMax assignments.

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move margin calculation for aabb before basis transform.
This commit is contained in:
erwin.coumans
2008-09-05 00:26:02 +00:00
parent 4f1a015b41
commit 359c84d3b3
7 changed files with 18 additions and 11 deletions
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6
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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@@ -234,11 +234,12 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
{
float margin=convexShape->getMarginNV();
btVector3 halfExtents = convexShape->getImplicitShapeDimensions();
halfExtents += btVector3(margin,margin,margin);
btTransform& t = xform;
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
extent += btVector3(margin,margin,margin);
aabbMin = center - extent;
aabbMax = center + extent;
break;
@@ -250,6 +251,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
//add the radius to y-axis to get full height
btScalar radius = halfExtents[0];
halfExtents[1] += radius;
halfExtents += btVector3(margin,margin,margin);
#if 0
int capsuleUpAxis = convexShape->getUpAxis();
btScalar halfHeight = convexShape->getHalfHeight();
@@ -260,7 +262,7 @@ void computeAabb (btVector3& aabbMin, btVector3& aabbMax, btConvexInternalShape*
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),abs_b[1].dot(halfExtents),abs_b[2].dot(halfExtents));
extent += btVector3(margin,margin,margin);
aabbMin = center - extent;
aabbMax = center + extent;
break;