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added non-uniform scaling to btMultiSphereShape

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added ray-aabb check
modified Raycast demo to be more useful for debugging collision shapes
This commit is contained in:
ejcoumans
2006-11-09 01:58:33 +00:00
parent db65601f9a
commit 6d47d9492e
12 changed files with 211 additions and 54 deletions
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12
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
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@@ -20,17 +20,17 @@ subject to the following restrictions:
btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,const btVector3* positions,const btScalar* radi,int numSpheres)
:m_inertiaHalfExtents(inertiaHalfExtents)
{
m_minRadius = 1e30f;
float startMargin = 1e30f;
m_numSpheres = numSpheres;
for (int i=0;i<m_numSpheres;i++)
{
m_localPositions[i] = positions[i];
m_radi[i] = radi[i];
if (radi[i] < m_minRadius)
m_minRadius = radi[i];
if (radi[i] < startMargin)
startMargin = radi[i];
}
setMargin(m_minRadius);
setMargin(startMargin);
}
@@ -64,7 +64,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (i=0;i<m_numSpheres;i++)
{
vtx = (*pos) +vec*((*rad)-m_minRadius);
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);
@@ -96,7 +96,7 @@ btMultiSphereShape::btMultiSphereShape (const btVector3& inertiaHalfExtents,cons
for (int i=0;i<m_numSpheres;i++)
{
vtx = (*pos) +vec*((*rad)-m_minRadius);
vtx = (*pos) +vec*m_localScaling*(*rad) - vec * getMargin();
pos++;
rad++;
newDot = vec.dot(vtx);