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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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4
src/BulletCollision/BroadphaseCollision/btDbvt.h
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@@ -961,8 +961,8 @@ inline void btDbvt::rayTestInternal( const btDbvtNode* root,
do do
{ {
const btDbvtNode* node=stack[--depth]; const btDbvtNode* node=stack[--depth];
bounds[0] = node->volume.Mins()+aabbMin; bounds[0] = node->volume.Mins()-aabbMax;
bounds[1] = node->volume.Maxs()+aabbMax; bounds[1] = node->volume.Maxs()-aabbMin;
btScalar tmin=1.f,lambda_min=0.f; btScalar tmin=1.f,lambda_min=0.f;
unsigned int result1=false; unsigned int result1=false;
result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max); result1 = btRayAabb2(rayFrom,rayDirectionInverse,signs,bounds,tmin,lambda_min,lambda_max);

8
src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
View File

@@ -493,8 +493,8 @@ void btQuantizedBvh::walkStacklessTreeAgainstRay(btNodeOverlapCallback* nodeCall
bounds[0] = rootNode->m_aabbMinOrg; bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg; bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */ /* Add box cast extents */
bounds[0] += aabbMin; bounds[0] -= aabbMax;
bounds[1] += aabbMax; bounds[1] -= aabbMin;
aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg); aabbOverlap = TestAabbAgainstAabb2(rayAabbMin,rayAabbMax,rootNode->m_aabbMinOrg,rootNode->m_aabbMaxOrg);
//perhaps profile if it is worth doing the aabbOverlap test first //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[0] = unQuantize(rootNode->m_quantizedAabbMin);
bounds[1] = unQuantize(rootNode->m_quantizedAabbMax); bounds[1] = unQuantize(rootNode->m_quantizedAabbMax);
/* Add box cast extents */ /* Add box cast extents */
bounds[0] += aabbMin; bounds[0] -= aabbMax;
bounds[1] += aabbMax; bounds[1] -= aabbMin;
btVector3 normal; btVector3 normal;
#if 0 #if 0
bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max); bool ra2 = btRayAabb2 (raySource, rayDirection, sign, bounds, param, 0.0, lambda_max);