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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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8
src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
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@@ -91,19 +91,15 @@ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
/*
aabbMin.setValue(-1e30f,-1e30f,-1e30f);
aabbMax.setValue(1e30f,1e30f,1e30f);
*/
btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
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(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;