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+ more consistent 'setLocalScaling' for the btCompoundShape. Full non-uniform scaling is not supported when child shapes have a rotation. If any child shapes have rotation, the best you can do is either uniform scaling, or 'baking' the non-uniform scaling into the child geometry (vertices of a convex hull for example)

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+ fixed an issue with BulletWorldImporter, btBoxShape implicitShapeDimensions already includes local scaling.
This commit is contained in:
rponom
2010-01-28 23:41:09 +00:00
parent ae0e78efd8
commit ee3e231be5
2 changed files with 6 additions and 3 deletions
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4
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -64,12 +64,14 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData; btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
btVector3 implicitShapeDimensions; btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions); implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin); btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
switch (shapeData->m_shapeType) switch (shapeData->m_shapeType)
{ {
case BOX_SHAPE_PROXYTYPE: case BOX_SHAPE_PROXYTYPE:
{ {
shape = createBoxShape(implicitShapeDimensions+margin); shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
break; break;
} }
case SPHERE_SHAPE_PROXYTYPE: case SPHERE_SHAPE_PROXYTYPE:

5
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
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@@ -267,18 +267,19 @@ void btCompoundShape::calculatePrincipalAxisTransform(btScalar* masses, btTransf
void btCompoundShape::setLocalScaling(const btVector3& scaling) void btCompoundShape::setLocalScaling(const btVector3& scaling)
{ {
m_localScaling = scaling;
for(int i = 0; i < m_children.size(); i++) for(int i = 0; i < m_children.size(); i++)
{ {
btTransform childTrans = getChildTransform(i); btTransform childTrans = getChildTransform(i);
btVector3 childScale = m_children[i].m_childShape->getLocalScaling(); btVector3 childScale = m_children[i].m_childShape->getLocalScaling();
childScale = childScale * (childTrans.getBasis() * scaling); // childScale = childScale * (childTrans.getBasis() * scaling);
childScale = childScale * scaling / m_localScaling;
m_children[i].m_childShape->setLocalScaling(childScale); m_children[i].m_childShape->setLocalScaling(childScale);
childTrans.setOrigin((childTrans.getOrigin())*scaling); childTrans.setOrigin((childTrans.getOrigin())*scaling);
updateChildTransform(i, childTrans); updateChildTransform(i, childTrans);
recalculateLocalAabb(); recalculateLocalAabb();
} }
m_localScaling = scaling;
} }