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Calculation of bounding box: margins should be added before basis transform.

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Disable btSphereBoxCollisionAlgorithm, it is broken.
More fixes for btSimpleBroadphase
Moved quickstep to Extras/quickstep folder, so developers don't get confused which constraint solver is default.
This commit is contained in:
erwin.coumans
2008-09-04 22:53:24 +00:00
parent 5334611f48
commit d8a5bf2c9c
29 changed files with 54 additions and 51 deletions
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5
src/BulletCollision/CollisionShapes/btBoxShape.cpp
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@@ -21,14 +21,15 @@ subject to the following restrictions:
void btBoxShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
{
const btVector3& halfExtents = getHalfExtentsWithoutMargin();
btVector3 halfExtents = getHalfExtentsWithoutMargin();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btPoint3 center = t.getOrigin();
btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
abs_b[1].dot(halfExtents),
abs_b[2].dot(halfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;

4
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -112,6 +112,7 @@ void btCompoundShape::recalculateLocalAabb()
void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -121,10 +122,7 @@ void btCompoundShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVect
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btCompoundShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const

5
src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h
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@@ -53,6 +53,7 @@ public:
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents+= btVector3(margin,margin,margin);
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -62,10 +63,6 @@ public:
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(margin,margin,margin);
aabbMin = center - extent;
aabbMax = center + extent;
}

6
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
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@@ -47,6 +47,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
{
btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
btMatrix3x3 abs_b = trans.getBasis().absolute();
@@ -56,12 +57,7 @@ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,bt
btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
abs_b[1].dot(localHalfExtents),
abs_b[2].dot(localHalfExtents));
extent += btVector3(getMargin(),getMargin(),getMargin());
aabbMin = center - extent;
aabbMax = center + extent;
}
void btTriangleMeshShape::recalcLocalAabb()