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bugfix in aabb expansion, causing the convexSweepTest to fail in certain cases

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(when the AABB is not symmetric around the origin)

Thanks to fishboy82 for the report and fix:
See http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=4484
http://code.google.com/p/bullet/issues/detail?id=322
This commit is contained in:
erwin.coumans
2009-12-22 21:19:41 +00:00
parent 71a7da86e2
commit ac3d52d81b
2 changed files with 6 additions and 6 deletions
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8
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
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@@ -493,8 +493,8 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first
@@ -617,8 +617,8 @@ void btQuantizedBvh::walkStacklessQuantizedTreeAgainstRay(btNodeOverlapCallback*
bounds[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */
bounds[0] += aabbMin;
bounds[1] += aabbMax;
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
btVector3 normal;
#if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);