diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp index 015314bc09f..8f893ac98aa 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp @@ -26,9 +26,9 @@ m_shapeB(shapeB) btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const { - btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis())); + btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(-vec*m_transA.getBasis())); btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(vec*m_transB.getBasis())); - return supVertexA + supVertexB; + return supVertexA - supVertexB; } void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const @@ -49,7 +49,7 @@ btScalar btMinkowskiSumShape::getMargin() const } -void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) +void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { (void)mass; btAssert(0); |