Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

improvements in MJCF importer: fix capsule shape inertia (for fromto definition)

Browse Source 
add cylinder support
don't crash when no "quat" is provided
inertia fix in btMinkowskiSumShape (based on AABB)
This commit is contained in:
Erwin Coumans
2017-04-05 12:22:38 -07:00
parent b095e1d917
commit e32debdca4
11 changed files with 180 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

21
src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
View File

@@ -55,6 +55,23 @@ btScalar btMinkowskiSumShape::getMargin() const
void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
(void)mass;
btAssert(0);
inertia.setValue(0,0,0);
//inertia of the AABB of the Minkowski sum
btTransform identity;
identity.setIdentity();
btVector3 aabbMin,aabbMax;
getAabb(identity,aabbMin,aabbMax);
btVector3 halfExtents = (aabbMax-aabbMin)*btScalar(0.5);
btScalar margin = getMargin();
btScalar lx=btScalar(2.)*(halfExtents.x()+margin);
btScalar ly=btScalar(2.)*(halfExtents.y()+margin);
btScalar lz=btScalar(2.)*(halfExtents.z()+margin);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;
const btScalar scaledmass = mass * btScalar(0.08333333);
inertia = scaledmass * (btVector3(y2+z2,x2+z2,x2+y2));
}