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Finally applied patch to removeChildShape from btCompoundShape

Browse Source 
http://code.google.com/p/bullet/issues/detail?id=51
Thanks to Ola Røer Thorsen for the patch!
This commit is contained in:
erwin.coumans
2008-06-26 23:29:42 +00:00
parent 52de9fee03
commit 50d41b624b
4 changed files with 79 additions and 6 deletions
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48
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -62,9 +62,53 @@ void btCompoundShape::addChildShape(const btTransform& localTransform,btCollisio
}
}
void btCompoundShape::removeChildShape(btCollisionShape* shape)
{
bool done_removing;
// Find the children containing the shape specified, and remove those children.
do
{
done_removing = true;
for(int i = 0; i < m_children.size(); i++)
{
if(m_children[i].m_childShape == shape)
{
m_children.remove(m_children[i]);
done_removing = false; // Do another iteration pass after removing from the vector
break;
}
}
}
while (!done_removing);
recalculateLocalAabb();
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::recalculateLocalAabb()
{
// Recalculate the local aabb
// Brute force, it iterates over all the shapes left.
m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
//extend the local aabbMin/aabbMax
for (int j = 0; j < m_children.size(); j++)
{
btVector3 localAabbMin,localAabbMax;
m_children[j].m_childShape->getAabb(m_children[j].m_transform, localAabbMin, localAabbMax);
for (int i=0;i<3;i++)
{
if (m_localAabbMin[i] > localAabbMin[i])
m_localAabbMin[i] = localAabbMin[i];
if (m_localAabbMax[i] < localAabbMax[i])
m_localAabbMax[i] = localAabbMax[i];
}
}
}
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);