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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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4
Demos/OpenGL/DemoApplication.cpp
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@@ -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->setActivationState(WANTS_DEACTIVATION);
colObj->activate();
//colObj->setActivationState(WANTS_DEACTIVATION);
}
//removed cached contact points
m_dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(colObj->getBroadphaseHandle(),getDynamicsWorld()->getDispatcher());

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;

3
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -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;
}

2
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -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;
}

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;

3
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -64,6 +64,9 @@ public:
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
aabbMin = center-extent;
aabbMax = center+extent;
}

3
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
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@@ -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;
}