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fix the issue that compound objects's child does not get rotated in the material space in interpolationWorldTransform

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This commit is contained in:
Xuchen Han
2019-08-13 16:59:42 -07:00
parent 07bf736aeb
commit fce1296413
3 changed files with 12 additions and 5 deletions
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8
src/BulletCollision/CollisionDispatch/btCollisionObjectWrapper.h
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@@ -27,13 +27,19 @@ public:
const btCollisionShape* m_shape;
const btCollisionObject* m_collisionObject;
const btTransform& m_worldTransform;
const btTransform* m_preTransform;
int m_partId;
int m_index;
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, int partId, int index)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_partId(partId), m_index(index)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(NULL), m_partId(partId), m_index(index)
{
}
btCollisionObjectWrapper(const btCollisionObjectWrapper* parent, const btCollisionShape* shape, const btCollisionObject* collisionObject, const btTransform& worldTransform, const btTransform& preTransform, int partId, int index)
: m_parent(parent), m_shape(shape), m_collisionObject(collisionObject), m_worldTransform(worldTransform), m_preTransform(&preTransform), m_partId(partId), m_index(index)
{
}
SIMD_FORCE_INLINE const btTransform& getWorldTransform() const { return m_worldTransform; }
SIMD_FORCE_INLINE const btCollisionObject* getCollisionObject() const { return m_collisionObject; }

2
src/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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@@ -139,7 +139,7 @@ public:
if (TestAabbAgainstAabb2(aabbMin0, aabbMax0, aabbMin1, aabbMax1))
{
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, -1, index);
btCollisionObjectWrapper compoundWrap(this->m_compoundColObjWrap, childShape, m_compoundColObjWrap->getCollisionObject(), newChildWorldTrans, childTrans, -1, index);
btCollisionAlgorithm* algo = 0;
bool allocatedAlgorithm = false;