diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp | 21 |
1 files changed, 19 insertions, 2 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp index f5f3aa58aa4..8c67d8ebef1 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp @@ -43,6 +43,23 @@ btConvexShape::~btConvexShape() } +void btConvexShape::project(const btTransform& trans, const btVector3& dir, btScalar& min, btScalar& max) const +{ + btVector3 localAxis = dir*trans.getBasis(); + btVector3 vtx1 = trans(localGetSupportingVertex(localAxis)); + btVector3 vtx2 = trans(localGetSupportingVertex(-localAxis)); + + min = vtx1.dot(dir); + max = vtx2.dot(dir); + + if(min>max) + { + btScalar tmp = min; + min = max; + max = tmp; + } +} + static btVector3 convexHullSupport (const btVector3& localDirOrg, const btVector3* points, int numPoints, const btVector3& localScaling) { @@ -227,7 +244,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV pos[capsuleUpAxis] = halfHeight; //vtx = pos +vec*(radius); - vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); newDot = vec.dot(vtx); @@ -242,7 +259,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV pos[capsuleUpAxis] = -halfHeight; //vtx = pos +vec*(radius); - vtx = pos +vec*capsuleShape->getLocalScalingNV()*(radius) - vec * capsuleShape->getMarginNV(); + vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV(); newDot = vec.dot(vtx); if (newDot > maxDot) { |