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drop non-uniform local scaling support for btCapsuleShape

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This commit is contained in:
Erwin Coumans
2017-01-23 21:10:32 -08:00
parent 2f381dece8
commit a25a5e523c
3 changed files with 10 additions and 23 deletions
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16
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@@ -56,7 +56,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -68,7 +68,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -97,7 +97,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius);
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -108,7 +108,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius);
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -134,11 +134,9 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = m_collisionMargin;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
btScalar lx=btScalar(2.)*(halfExtents[0]);
btScalar ly=btScalar(2.)*(halfExtents[1]);
btScalar lz=btScalar(2.)*(halfExtents[2]);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;

8
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -55,7 +55,6 @@ public:
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
@@ -87,14 +86,7 @@ public:
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual btVector3 getAnisotropicRollingFrictionDirection() const

9
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -237,7 +237,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
{
vec.setValue(1,0,0);
} else
@@ -251,8 +251,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos;
newDot = vec.dot(vtx);
@@ -266,8 +265,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = -halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -427,7 +425,6 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
int m_upAxis = capsuleShape->getUpAxis();
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);