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add support for X,Z axis aligned capsules

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This commit is contained in:
ejcoumans
2008-02-08 01:10:34 +00:00
parent 9eb0340dab
commit 71b58309cf
1 changed files with 12 additions and 6 deletions
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18
Extras/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.cpp
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@@ -116,10 +116,12 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVec
//spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n"); //spu_printf("SPU: todo: getSupport CAPSULE_SHAPE_PROXYTYPE\n");
btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ()); btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
btConvexInternalShape* cnvxShape = (btConvexInternalShape*)shape; btCapsuleShape* capsuleShape = (btCapsuleShape*)shape;
btVector3 halfExtents = cnvxShape->getImplicitShapeDimensions(); btVector3 halfExtents = capsuleShape->getImplicitShapeDimensions();
btScalar halfHeight = halfExtents.getY(); btScalar halfHeight = capsuleShape->getHalfHeight();
btScalar radius = halfExtents.getX(); int capsuleUpAxis = capsuleShape->getUpAxis();
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0); btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-1e30)); btScalar maxDot(btScalar(-1e30));
@@ -137,7 +139,9 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVec
btVector3 vtx; btVector3 vtx;
btScalar newDot; btScalar newDot;
{ {
btVector3 pos(0,halfHeight,0); btVector3 pos(0,0,0);
pos[capsuleUpAxis] = halfHeight;
vtx = pos +vec*(radius); vtx = pos +vec*(radius);
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)
@@ -147,7 +151,9 @@ btPoint3 localGetSupportingVertexWithoutMargin(int shapeType, void* shape, btVec
} }
} }
{ {
btVector3 pos(0,-halfHeight,0); btVector3 pos(0,0,0);
pos[capsuleUpAxis] = -halfHeight;
vtx = pos +vec*(radius); vtx = pos +vec*(radius);
newDot = vec.dot(vtx); newDot = vec.dot(vtx);
if (newDot > maxDot) if (newDot > maxDot)