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Fix in aabb computation for a btUniformScalingShape

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Thanks to Flix, see http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=6439
This commit is contained in:
erwin.coumans
2011-03-11 00:05:07 +00:00
parent 5a4d65f2fe
commit bf90952c12
1 changed files with 57 additions and 12 deletions
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69
src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
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@@ -64,25 +64,70 @@ void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inert
///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
void btUniformScalingShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabb(t,aabbMin,aabbMax);
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
aabbMin = aabbCenter - scaledAabbHalfExtends;
aabbMax = aabbCenter + scaledAabbHalfExtends;
getAabbSlow(trans,aabbMin,aabbMax);
}
void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
m_childConvexShape->getAabbSlow(t,aabbMin,aabbMax);
btVector3 aabbCenter = (aabbMax+aabbMin)*btScalar(0.5);
btVector3 scaledAabbHalfExtends = (aabbMax-aabbMin)*btScalar(0.5)*m_uniformScalingFactor;
#if 1
btVector3 _directions[] =
{
btVector3( 1., 0., 0.),
btVector3( 0., 1., 0.),
btVector3( 0., 0., 1.),
btVector3( -1., 0., 0.),
btVector3( 0., -1., 0.),
btVector3( 0., 0., -1.)
};
btVector3 _supporting[] =
{
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.),
btVector3( 0., 0., 0.)
};
aabbMin = aabbCenter - scaledAabbHalfExtends;
aabbMax = aabbCenter + scaledAabbHalfExtends;
for (int i=0;i<6;i++)
{
_directions[i] = _directions[i]*t.getBasis();
}
batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
for ( int i = 0; i < 3; ++i )
{
aabbMax1[i] = t(_supporting[i])[i];
aabbMin1[i] = t(_supporting[i + 3])[i];
}
btVector3 marginVec(getMargin(),getMargin(),getMargin());
aabbMin = aabbMin1-marginVec;
aabbMax = aabbMax1+marginVec;
#else
btScalar margin = getMargin();
for (int i=0;i<3;i++)
{
btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
vec[i] = btScalar(1.);
btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
btVector3 tmp = t(sv);
aabbMax[i] = tmp[i]+margin;
vec[i] = btScalar(-1.);
sv = localGetSupportingVertex(vec*t.getBasis());
tmp = t(sv);
aabbMin[i] = tmp[i]-margin;
}
#endif
}
void btUniformScalingShape::setLocalScaling(const btVector3& scaling)