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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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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]);