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Apply lsgmasa's fix for convex cast against collision world.

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johnmccutchan
2008-02-08 19:56:46 +00:00
parent 618263163c
commit d70a25ff6d
1 changed files with 5 additions and 2 deletions
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7
src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
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@@ -626,11 +626,14 @@ void btCollisionWorld::convexSweepTest(const btConvexShape* castShape, const btT
convexFromTrans = convexFromWorld;
convexToTrans = convexToWorld;
btVector3 castShapeAabbMin, castShapeAabbMax;
/* Compute AABB that encompasses movement */
/* Compute AABB that encompasses angular movement */
{
btVector3 linVel, angVel;
btTransformUtil::calculateVelocity (convexFromTrans, convexToTrans, 1.0, linVel, angVel);
castShape->calculateTemporalAabb (convexFromTrans, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
btTransform R;
R.setIdentity ();
R.setRotation (convexFromTrans.getRotation());
castShape->calculateTemporalAabb (R, linVel, angVel, 1.0, castShapeAabbMin, castShapeAabbMax);
}
/// go over all objects, and if the ray intersects their aabb + cast shape aabb,