forked from bartvdbraak/blender
attempt to support negative local scaling for convex hull, box,sphere, cylinder, cone and btScaledBvhTriangleMeshShape in Bullet.
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877d70b14a
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2941f755f7
@ -36,6 +36,13 @@ btConvexHullShape ::btConvexHullShape (const btScalar* points,int numPoints,int
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}
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void btConvexHullShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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recalcLocalAabb();
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}
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void btConvexHullShape::addPoint(const btPoint3& point)
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{
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m_points.push_back(point);
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@ -71,7 +71,8 @@ public:
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virtual void getPlane(btVector3& planeNormal,btPoint3& planeSupport,int i ) const;
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virtual bool isInside(const btPoint3& pt,btScalar tolerance) const;
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///in case we receive negative scaling
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virtual void setLocalScaling(const btVector3& scaling);
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};
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@ -26,7 +26,7 @@ m_collisionMargin(CONVEX_DISTANCE_MARGIN)
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void btConvexInternalShape::setLocalScaling(const btVector3& scaling)
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{
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m_localScaling = scaling;
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m_localScaling = scaling.absolute();
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}
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@ -56,8 +56,18 @@ void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callb
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btScaledTriangleCallback scaledCallback(callback,m_localScaling);
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btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ());
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btVector3 scaledAabbMin = aabbMin * invLocalScaling;
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btVector3 scaledAabbMax = aabbMax * invLocalScaling;
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btVector3 scaledAabbMin,scaledAabbMax;
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///support negative scaling
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scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
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scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
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scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
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scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0];
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scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1];
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scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2];
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m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax);
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}
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@ -66,8 +76,16 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a
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{
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btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin();
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btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax();
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localAabbMin *= m_localScaling;
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localAabbMax *= m_localScaling;
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btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling;
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btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling;
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localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
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localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
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localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
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localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0];
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localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1];
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localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2];
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btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
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btScalar margin = m_bvhTriMeshShape->getMargin();
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