114 lines
4.5 KiB
Diff
114 lines
4.5 KiB
Diff
From 1b4c1687748bafd3c521f454bfdfc89b3857b65e Mon Sep 17 00:00:00 2001
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From: David Vogel <Dadido3@aol.com>
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Date: Mon, 30 Mar 2020 19:45:23 +0200
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Subject: [PATCH 1/2] Fix inertia and margin calculation for
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btPolyhedralConvexShape
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---
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.../CollisionShapes/btPolyhedralConvexShape.cpp | 14 +++++++-------
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1 file changed, 7 insertions(+), 7 deletions(-)
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diff --git a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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index 521ecfc760..e4bd7bb4d5 100644
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--- a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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+++ b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
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@@ -463,17 +463,17 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& in
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#ifndef __SPU__
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//not yet, return box inertia
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- btScalar margin = getMargin();
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+ //btScalar margin = getMargin();
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btTransform ident;
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ident.setIdentity();
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btVector3 aabbMin, aabbMax;
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- getAabb(ident, aabbMin, aabbMax);
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+ getAabb(ident, aabbMin, aabbMax); // This already contains the margin
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btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
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- btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
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- btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
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- btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
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+ btScalar lx = btScalar(2.) * (halfExtents.x());
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+ btScalar ly = btScalar(2.) * (halfExtents.y());
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+ btScalar lz = btScalar(2.) * (halfExtents.z());
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const btScalar x2 = lx * lx;
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const btScalar y2 = ly * ly;
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const btScalar z2 = lz * lz;
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@@ -529,8 +529,8 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb()
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for (int i = 0; i < 3; ++i)
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{
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- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
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- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
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+ m_localAabbMax[i] = _supporting[i][i];
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+ m_localAabbMin[i] = _supporting[i + 3][i];
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}
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#else
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From 4b9a201d4c1b8cacbcdd68f9cdb55745caa6adc4 Mon Sep 17 00:00:00 2001
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From: David Vogel <Dadido3@aol.com>
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Date: Mon, 30 Mar 2020 20:43:55 +0200
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Subject: [PATCH 2/2] Fix margins
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- Margin in ineratia calculation of btConeShape is already contained in the AABB
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- Remove margin from the cached AABB in btConvexInternalShape, as it is added on getAabb()
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---
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src/BulletCollision/CollisionShapes/btConeShape.h | 10 ++++------
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.../CollisionShapes/btConvexInternalShape.cpp | 8 ++++----
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2 files changed, 8 insertions(+), 10 deletions(-)
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diff --git a/src/BulletCollision/CollisionShapes/btConeShape.h b/src/BulletCollision/CollisionShapes/btConeShape.h
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index 49f26bc4e5..ee6786c807 100644
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--- a/src/BulletCollision/CollisionShapes/btConeShape.h
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+++ b/src/BulletCollision/CollisionShapes/btConeShape.h
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@@ -56,15 +56,13 @@ btConeShape : public btConvexInternalShape
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btTransform identity;
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identity.setIdentity();
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btVector3 aabbMin, aabbMax;
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- getAabb(identity, aabbMin, aabbMax);
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+ getAabb(identity, aabbMin, aabbMax); // This already contains the margin
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btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
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- btScalar margin = getMargin();
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-
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- btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
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- btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
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- btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
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+ btScalar lx = btScalar(2.) * (halfExtents.x());
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+ btScalar ly = btScalar(2.) * (halfExtents.y());
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+ btScalar lz = btScalar(2.) * (halfExtents.z());
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const btScalar x2 = lx * lx;
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const btScalar y2 = ly * ly;
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const btScalar z2 = lz * lz;
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diff --git a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
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index 4d598b1aa2..b847f8f40f 100644
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--- a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
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+++ b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
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@@ -117,8 +117,8 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb()
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for (int i = 0; i < 3; ++i)
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{
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- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin;
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- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin;
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+ m_localAabbMax[i] = _supporting[i][i];
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+ m_localAabbMin[i] = _supporting[i + 3][i];
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}
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#else
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@@ -128,10 +128,10 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb()
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btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.));
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vec[i] = btScalar(1.);
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btVector3 tmp = localGetSupportingVertex(vec);
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- m_localAabbMax[i] = tmp[i] + m_collisionMargin;
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+ m_localAabbMax[i] = tmp[i];
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vec[i] = btScalar(-1.);
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tmp = localGetSupportingVertex(vec);
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- m_localAabbMin[i] = tmp[i] - m_collisionMargin;
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+ m_localAabbMin[i] = tmp[i];
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}
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#endif
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}
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