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Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp')
-rw-r--r--extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp36
1 files changed, 30 insertions, 6 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
index b7e15172da2..26ba276b900 100644
--- a/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
+++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp
@@ -21,6 +21,7 @@ subject to the following restrictions:
btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
{
+ m_upAxis = 1;
m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
}
@@ -50,7 +51,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
{
- btVector3 pos(0,getHalfHeight(),0);
+ btVector3 pos(0,0,0);
+ pos[getUpAxis()] = getHalfHeight();
+
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -60,7 +63,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
}
}
{
- btVector3 pos(0,-getHalfHeight(),0);
+ btVector3 pos(0,0,0);
+ pos[getUpAxis()] = -getHalfHeight();
+
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -88,7 +93,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
btVector3 vtx;
btScalar newDot;
{
- btVector3 pos(0,getHalfHeight(),0);
+ btVector3 pos(0,0,0);
+ pos[getUpAxis()] = getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -98,7 +104,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
}
}
{
- btVector3 pos(0,-getHalfHeight(),0);
+ btVector3 pos(0,0,0);
+ pos[getUpAxis()] = -getHalfHeight();
vtx = pos +vec*m_localScaling*(radius) - vec * getMargin();
newDot = vec.dot(vtx);
if (newDot > maxDot)
@@ -112,7 +119,7 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height)
}
-void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
+void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
{
//as an approximation, take the inertia of the box that bounds the spheres
@@ -122,7 +129,8 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
btScalar radius = getRadius();
- btVector3 halfExtents(radius,radius+getHalfHeight(),radius);
+ btVector3 halfExtents(radius,radius,radius);
+ halfExtents[getUpAxis()]+=getHalfHeight();
btScalar margin = CONVEX_DISTANCE_MARGIN;
@@ -140,6 +148,22 @@ void btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia)
}
+btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
+{
+ m_upAxis = 0;
+ m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
+}
+
+
+
+
+
+
+btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
+{
+ m_upAxis = 2;
+ m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
+}