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Use proper rotation for computing local aabb for convex cast shape.

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Propagate hit point from convex caster to world callback [work in progress].
This commit is contained in:
johnmccutchan
2007-12-07 21:22:38 +00:00
parent 68af58c09d
commit 513a055035
7 changed files with 33 additions and 32 deletions
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16
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -262,23 +262,23 @@ public:
btVector3 m_hitPointWorld;
btCollisionObject* m_hitCollisionObject;
virtual btScalar AddSingleResult(LocalConvexResult& rayResult,bool normalInWorldSpace)
virtual btScalar AddSingleResult(LocalConvexResult& convexResult,bool normalInWorldSpace)
{
//caller already does the filter on the m_closestHitFraction
btAssert(rayResult.m_hitFraction <= m_closestHitFraction);
btAssert(convexResult.m_hitFraction <= m_closestHitFraction);
m_closestHitFraction = rayResult.m_hitFraction;
m_hitCollisionObject = rayResult.m_hitCollisionObject;
m_closestHitFraction = convexResult.m_hitFraction;
m_hitCollisionObject = convexResult.m_hitCollisionObject;
if (normalInWorldSpace)
{
m_hitNormalWorld = rayResult.m_hitNormalLocal;
m_hitNormalWorld = convexResult.m_hitNormalLocal;
} else
{
///need to transform normal into worldspace
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*rayResult.m_hitNormalLocal;
m_hitNormalWorld = m_hitCollisionObject->getWorldTransform().getBasis()*convexResult.m_hitNormalLocal;
}
m_hitPointWorld.setInterpolate3(m_convexFromWorld,m_convexToWorld,rayResult.m_hitFraction);
return rayResult.m_hitFraction;
m_hitPointWorld = convexResult.m_hitPointLocal;
return convexResult.m_hitFraction;
}
};