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

move margin calculation for aabb before basis transform.

Demos/OpenGL/DemoApplication.cpp

@@ -1229,8 +1229,8 @@ void	DemoApplication::clientResetScene()
 				myMotionState->m_graphicsWorldTrans = myMotionState->m_startWorldTrans;
 				colObj->setWorldTransform( myMotionState->m_graphicsWorldTrans );
 				colObj->setInterpolationWorldTransform( myMotionState->m_startWorldTrans );
-				//colObj->activate();
+				colObj->activate();
-				colObj->setActivationState(WANTS_DEACTIVATION);
+				//colObj->setActivationState(WANTS_DEACTIVATION);
 			}
 			//removed cached contact points
 			m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());

Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp

@@ -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;

src/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -49,10 +49,11 @@ public:
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
 			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
+			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;
 	}

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -122,6 +122,8 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
 		  abs_b[2].dot(localHalfExtents));
+	aabbMin = center-extent;
+	aabbMax = center+extent;
 
 }
 

src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp

@@ -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;

src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h

@@ -64,6 +64,9 @@ public:
 			   abs_b[1].dot(localHalfExtents),
 			  abs_b[2].dot(localHalfExtents));
 
+		aabbMin = center-extent;
+		aabbMax = center+extent;
+
 		
 	}
 

src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp

@@ -57,6 +57,9 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
 	btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 		   abs_b[1].dot(localHalfExtents),
 		  abs_b[2].dot(localHalfExtents));
+	aabbMin = center - extent;
+	aabbMax = center + extent;
+
 
 }