diff options
Diffstat (limited to 'extern/bullet2/patches/inertia.patch')
| -rw-r--r-- | extern/bullet2/patches/inertia.patch | 113 |
1 files changed, 113 insertions, 0 deletions
diff --git a/extern/bullet2/patches/inertia.patch b/extern/bullet2/patches/inertia.patch new file mode 100644 index 00000000000..731772dd220 --- /dev/null +++ b/extern/bullet2/patches/inertia.patch @@ -0,0 +1,113 @@ +From 1b4c1687748bafd3c521f454bfdfc89b3857b65e Mon Sep 17 00:00:00 2001 +From: David Vogel <Dadido3@aol.com> +Date: Mon, 30 Mar 2020 19:45:23 +0200 +Subject: [PATCH 1/2] Fix inertia and margin calculation for + btPolyhedralConvexShape + +--- + .../CollisionShapes/btPolyhedralConvexShape.cpp | 14 +++++++------- + 1 file changed, 7 insertions(+), 7 deletions(-) + +diff --git a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +index 521ecfc760..e4bd7bb4d5 100644 +--- a/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp ++++ b/src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp +@@ -463,17 +463,17 @@ void btPolyhedralConvexShape::calculateLocalInertia(btScalar mass, btVector3& in + #ifndef __SPU__ + //not yet, return box inertia + +- btScalar margin = getMargin(); ++ //btScalar margin = getMargin(); + + btTransform ident; + ident.setIdentity(); + btVector3 aabbMin, aabbMax; +- getAabb(ident, aabbMin, aabbMax); ++ getAabb(ident, aabbMin, aabbMax); // This already contains the margin + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); + +- btScalar lx = btScalar(2.) * (halfExtents.x() + margin); +- btScalar ly = btScalar(2.) * (halfExtents.y() + margin); +- btScalar lz = btScalar(2.) * (halfExtents.z() + margin); ++ btScalar lx = btScalar(2.) * (halfExtents.x()); ++ btScalar ly = btScalar(2.) * (halfExtents.y()); ++ btScalar lz = btScalar(2.) * (halfExtents.z()); + const btScalar x2 = lx * lx; + const btScalar y2 = ly * ly; + const btScalar z2 = lz * lz; +@@ -529,8 +529,8 @@ void btPolyhedralConvexAabbCachingShape::recalcLocalAabb() + + for (int i = 0; i < 3; ++i) + { +- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; +- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; ++ m_localAabbMax[i] = _supporting[i][i]; ++ m_localAabbMin[i] = _supporting[i + 3][i]; + } + + #else + +From 4b9a201d4c1b8cacbcdd68f9cdb55745caa6adc4 Mon Sep 17 00:00:00 2001 +From: David Vogel <Dadido3@aol.com> +Date: Mon, 30 Mar 2020 20:43:55 +0200 +Subject: [PATCH 2/2] Fix margins + +- Margin in ineratia calculation of btConeShape is already contained in the AABB +- Remove margin from the cached AABB in btConvexInternalShape, as it is added on getAabb() +--- + src/BulletCollision/CollisionShapes/btConeShape.h | 10 ++++------ + .../CollisionShapes/btConvexInternalShape.cpp | 8 ++++---- + 2 files changed, 8 insertions(+), 10 deletions(-) + +diff --git a/src/BulletCollision/CollisionShapes/btConeShape.h b/src/BulletCollision/CollisionShapes/btConeShape.h +index 49f26bc4e5..ee6786c807 100644 +--- a/src/BulletCollision/CollisionShapes/btConeShape.h ++++ b/src/BulletCollision/CollisionShapes/btConeShape.h +@@ -56,15 +56,13 @@ btConeShape : public btConvexInternalShape + btTransform identity; + identity.setIdentity(); + btVector3 aabbMin, aabbMax; +- getAabb(identity, aabbMin, aabbMax); + ++ getAabb(identity, aabbMin, aabbMax); // This already contains the margin + btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5); + +- btScalar margin = getMargin(); +- +- btScalar lx = btScalar(2.) * (halfExtents.x() + margin); +- btScalar ly = btScalar(2.) * (halfExtents.y() + margin); +- btScalar lz = btScalar(2.) * (halfExtents.z() + margin); ++ btScalar lx = btScalar(2.) * (halfExtents.x()); ++ btScalar ly = btScalar(2.) * (halfExtents.y()); ++ btScalar lz = btScalar(2.) * (halfExtents.z()); + const btScalar x2 = lx * lx; + const btScalar y2 = ly * ly; + const btScalar z2 = lz * lz; +diff --git a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp +index 4d598b1aa2..b847f8f40f 100644 +--- a/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp ++++ b/src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp +@@ -117,8 +117,8 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb() + + for (int i = 0; i < 3; ++i) + { +- m_localAabbMax[i] = _supporting[i][i] + m_collisionMargin; +- m_localAabbMin[i] = _supporting[i + 3][i] - m_collisionMargin; ++ m_localAabbMax[i] = _supporting[i][i]; ++ m_localAabbMin[i] = _supporting[i + 3][i]; + } + + #else +@@ -128,10 +128,10 @@ void btConvexInternalAabbCachingShape::recalcLocalAabb() + btVector3 vec(btScalar(0.), btScalar(0.), btScalar(0.)); + vec[i] = btScalar(1.); + btVector3 tmp = localGetSupportingVertex(vec); +- m_localAabbMax[i] = tmp[i] + m_collisionMargin; ++ m_localAabbMax[i] = tmp[i]; + vec[i] = btScalar(-1.); + tmp = localGetSupportingVertex(vec); +- m_localAabbMin[i] = tmp[i] - m_collisionMargin; ++ m_localAabbMin[i] = tmp[i]; + } + #endif + } |