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Don't fallback to getAabbSlow in btCapsuleShape

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johnmccutchan
2008-02-13 03:07:25 +00:00
parent 1d576dd0af
commit 65ce92885b
1 changed files with 12 additions and 0 deletions
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12
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -45,6 +45,18 @@ public:
virtual int getShapeType() const { return CAPSULE_SHAPE_PROXYTYPE; }
virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
halfExtents[m_upAxis] = getRadius()*btScalar(2.0) + btScalar(0.5)*getHalfHeight();
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;
}
virtual const char* getName()const
{
return "CapsuleShape";