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attempt to support negative local scaling for convex hull, box,sphere, cylinder, cone and btScaledBvhTriangleMeshShape in Bullet.

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This commit is contained in:
Erwin Coumans 2008-09-20 23:45:45 +00:00
parent 877d70b14a
commit 2941f755f7
4 changed files with 32 additions and 6 deletions
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7
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp vendored
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@ -36,6 +36,13 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
}
void btConvexHullShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
recalcLocalAabb();
}
void btConvexHullShape::addPoint(const btPoint3& point)
{
m_points.push_back(point);

3
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexHullShape.h vendored
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@ -71,7 +71,8 @@ public:
virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);
};

2
extern/bullet2/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp vendored
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@ -26,7 +26,7 @@ m_collisionMargin(CONVEX_DISTANCE_MARGIN)
void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
{
m_localScaling = scaling;
m_localScaling = scaling.absolute();
}

26
extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp vendored
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@ -56,8 +56,18 @@ void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callb
btScaledTriangleCallback scaledCallback(callback,m_localScaling);
btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
btVector3 scaledAabbMin = aabbMin * invLocalScaling;
btVector3 scaledAabbMax = aabbMax * invLocalScaling;
btVector3 scaledAabbMin,scaledAabbMax;
///support negative scaling
scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
}
@ -66,8 +76,16 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
{
btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
localAabbMin *= m_localScaling;
localAabbMax *= m_localScaling;
btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
btScalar margin = m_bvhTriMeshShape->getMargin();