fixed sphere shape, added non-uniform scaling (making it an ellipsoid)

removed bug-fixing comments

4 files changed, 32 insertions, 38 deletions

diff --git a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
index 98f2a3d5444..727af3ae499 100644
--- a/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/BoxShape.cpp
@@ -54,25 +54,4 @@ void	BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
 	inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
 
 
-//		float radius = GetHalfExtents().length();
-//		SimdScalar elem = 0.4f * mass * radius*radius;
-//	inertia[0] = inertia[1] = inertia[2] = elem;
-return;
-/*
-	float margin = GetMargin();
-	SimdVector3 halfExtents = GetHalfExtents();
-
-	SimdScalar lx=2.f*(halfExtents.x()+margin);
-	SimdScalar ly=2.f*(halfExtents.y()+margin);
-	SimdScalar lz=2.f*(halfExtents.z()+margin);
-	const SimdScalar x2 = lx*lx;
-	const SimdScalar y2 = ly*ly;
-	const SimdScalar z2 = lz*lz;
-	const SimdScalar scaledmass = mass * 0.08333333f;
-
-	inertia = scaledmass * (SimdVector3(y2+z2,x2+z2,x2+y2));
-*/
-//		inertia.x() = scaledmass * (y2+z2);
-//		inertia.y() = scaledmass * (x2+z2);
-//		inertia.z() = scaledmass * (x2+y2);
 }
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
index 182b458ec7b..6afb0fe5091 100644
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.cpp
@@ -17,42 +17,58 @@
 
 SphereShape ::SphereShape (SimdScalar radius)
 : m_radius(radius)
-{
-	SetMargin( radius );
+{	
 }
 
 SimdVector3	SphereShape::LocalGetSupportingVertexWithoutMargin(const SimdVector3& vec)const
 {
-	return SimdVector3(0.f,0.f,0.f);
-}
+	float radius = m_radius - GetMargin();
 
-SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
-{
 	SimdScalar len = vec.length2();
 	if (fabsf(len) < 0.0001f)
 	{
-		return SimdVector3(GetMargin(),GetMargin(),GetMargin());
+		return SimdVector3(m_localScaling[0] * radius,m_localScaling[1]*radius,m_localScaling[2]*radius);
 	} 
-	return vec *  (GetMargin() / sqrtf(len));
+	return vec *  (m_localScaling*(radius / sqrtf(len)));
 }
 
+SimdVector3	SphereShape::LocalGetSupportingVertex(const SimdVector3& vec)const
+{
+	SimdVector3 supVertex;
+	supVertex = LocalGetSupportingVertexWithoutMargin(vec);
 
+	if ( GetMargin()!=0.f )
+	{
+		SimdVector3 vecnorm = vec;
+		if (vecnorm .length2() == 0.f)
+		{
+			vecnorm.setValue(-1.f,-1.f,-1.f);
+		} 
+		vecnorm.normalize();
+		supVertex+= GetMargin() * vecnorm;
+	}
+	return supVertex;
+}
+
+/*
+//broken due to scaling
 void SphereShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
 {
 	const SimdVector3& center = t.getOrigin();
-	SimdScalar radius = m_radius + CONVEX_DISTANCE_MARGIN;
-	radius += 1;
-
-	const SimdVector3 extent(radius,radius,radius);
+	SimdScalar radius = m_radius;
+	
+	SimdVector3 extent = m_localScaling*radius;
+	extent+= SimdVector3(GetMargin(),GetMargin(),GetMargin());
 
 	aabbMin = center - extent;
 	aabbMax = center + extent;
 }
-
+*/
 
 
 void	SphereShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
 {
-  SimdScalar elem = 0.4f * mass * m_radius*m_radius;
+	SimdScalar elem = 0.4f * mass * m_radius*m_radius;
 	inertia[0] = inertia[1] = inertia[2] = elem;
+
 }
\ No newline at end of file
diff --git a/extern/bullet/Bullet/CollisionShapes/SphereShape.h b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
index 6765c59f18a..240d9befce8 100644
--- a/extern/bullet/Bullet/CollisionShapes/SphereShape.h
+++ b/extern/bullet/Bullet/CollisionShapes/SphereShape.h
@@ -31,7 +31,7 @@ public:
 
 	virtual void	CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia);
 
-	virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
+	//virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const;
 
 	virtual int	GetShapeType() const { return SPHERE_SHAPE_PROXYTYPE; }
 
diff --git a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
index f1f7ba2c1d2..c16a31ee18d 100644
--- a/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
+++ b/extern/bullet/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
@@ -163,8 +163,7 @@ void		CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa
 }
 void		CcdPhysicsController::applyImpulse(float attachX,float attachY,float attachZ, float impulseX,float impulseY,float impulseZ)
 {
-	printf("CcdPhysicsController::applyImpulse\n");
-
+	
 	SimdVector3 impulse(impulseX,impulseY,impulseZ);
 	SimdVector3 pos(attachX,attachY,attachZ);