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Merge pull request #929 from erwincoumans/master

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more btCapsuleShape fixes:w
This commit is contained in:
erwincoumans
2017-01-23 22:44:43 -08:00
committed by GitHub
parent 9a8b0272d4 1b2db1ff09
commit f81743eee0
4 changed files with 19 additions and 31 deletions
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2
examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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@@ -123,7 +123,7 @@ ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option,
gMCFJFileNameArray.push_back("mjcf/humanoid.xml");
gMCFJFileNameArray.push_back("mjcf/inverted_pendulum.xml");
gMCFJFileNameArray.push_back("mjcf/ant.xml");
gMCFJFileNameArray.push_back("mjcf/hello_mjcf2.xml");
gMCFJFileNameArray.push_back("mjcf/hello_mjcf.xml");
gMCFJFileNameArray.push_back("mjcf/capsule.xml");
// gMCFJFileNameArray.push_back("mjcf/hopper.xml");
// gMCFJFileNameArray.push_back("mjcf/swimmer.xml");

23
src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
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@@ -16,7 +16,6 @@ subject to the following restrictions:
#include "btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
#include "LinearMath/btQuaternion.h"
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInternalShape ()
@@ -49,14 +48,13 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 vtx;
btScalar newDot;
btScalar radius = getRadius();
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -68,7 +66,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius) - vec * getMargin();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -85,8 +83,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btScalar radius = getRadius();
for (int j=0;j<numVectors;j++)
{
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
@@ -97,7 +94,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*(radius);
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -108,7 +105,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
{
btVector3 pos(0,0,0);
pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*(radius);
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -134,11 +131,9 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
btVector3 halfExtents(radius,radius,radius);
halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = m_collisionMargin;
btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
btScalar lz=btScalar(2.)*(halfExtents[2]+margin);
btScalar lx=btScalar(2.)*(halfExtents[0]);
btScalar ly=btScalar(2.)*(halfExtents[1]);
btScalar lz=btScalar(2.)*(halfExtents[2]);
const btScalar x2 = lx*lx;
const btScalar y2 = ly*ly;
const btScalar z2 = lz*lz;

15
src/BulletCollision/CollisionShapes/btCapsuleShape.h
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@@ -55,7 +55,6 @@ public:
{
btVector3 halfExtents(getRadius(),getRadius(),getRadius());
halfExtents[m_upAxis] = getRadius() + getHalfHeight();
halfExtents += btVector3(getMargin(),getMargin(),getMargin());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
@@ -87,14 +86,12 @@ public:
virtual void setLocalScaling(const btVector3& scaling)
{
btVector3 oldMargin(getMargin(),getMargin(),getMargin());
btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
btVector3 unScaledImplicitShapeDimensions = m_implicitShapeDimensions / m_localScaling;
btConvexInternalShape::setLocalScaling(scaling);
m_implicitShapeDimensions = (unScaledImplicitShapeDimensions * scaling);
//update m_collisionMargin, since entire radius==margin
int radiusAxis = (m_upAxis+2)%3;
m_collisionMargin = m_implicitShapeDimensions[radiusAxis];
}
virtual btVector3 getAnisotropicRollingFrictionDirection() const

10
src/BulletCollision/CollisionShapes/btConvexShape.cpp
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@@ -230,14 +230,13 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btScalar halfHeight = capsuleShape->getHalfHeight();
int capsuleUpAxis = capsuleShape->getUpAxis();
btScalar radius = capsuleShape->getRadius();
btVector3 supVec(0,0,0);
btScalar maxDot(btScalar(-BT_LARGE_FLOAT));
btVector3 vec = vec0;
btScalar lenSqr = vec.length2();
if (lenSqr < btScalar(0.0001))
if (lenSqr < SIMD_EPSILON*SIMD_EPSILON)
{
vec.setValue(1,0,0);
} else
@@ -251,8 +250,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos;
newDot = vec.dot(vtx);
@@ -266,8 +264,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
btVector3 pos(0,0,0);
pos[capsuleUpAxis] = -halfHeight;
//vtx = pos +vec*(radius);
vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
vtx = pos;
newDot = vec.dot(vtx);
if (newDot > maxDot)
{
@@ -427,7 +424,6 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
int m_upAxis = capsuleShape->getUpAxis();
halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
btVector3 extent = halfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);