diff options
Diffstat (limited to 'extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp | 28 |
1 files changed, 23 insertions, 5 deletions
diff --git a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp index 5a17b4e2df0..2b81a02b557 100644 --- a/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp +++ b/extern/bullet2/src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp @@ -56,8 +56,18 @@ void btScaledBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callb btScaledTriangleCallback scaledCallback(callback,m_localScaling); btVector3 invLocalScaling(1.f/m_localScaling.getX(),1.f/m_localScaling.getY(),1.f/m_localScaling.getZ()); - btVector3 scaledAabbMin = aabbMin * invLocalScaling; - btVector3 scaledAabbMax = aabbMax * invLocalScaling; + btVector3 scaledAabbMin,scaledAabbMax; + + ///support negative scaling + scaledAabbMin[0] = m_localScaling.getX() >= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMin[1] = m_localScaling.getY() >= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMin[2] = m_localScaling.getZ() >= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + + scaledAabbMax[0] = m_localScaling.getX() <= 0. ? aabbMin[0] * invLocalScaling[0] : aabbMax[0] * invLocalScaling[0]; + scaledAabbMax[1] = m_localScaling.getY() <= 0. ? aabbMin[1] * invLocalScaling[1] : aabbMax[1] * invLocalScaling[1]; + scaledAabbMax[2] = m_localScaling.getZ() <= 0. ? aabbMin[2] * invLocalScaling[2] : aabbMax[2] * invLocalScaling[2]; + + m_bvhTriMeshShape->processAllTriangles(&scaledCallback,scaledAabbMin,scaledAabbMax); } @@ -66,8 +76,16 @@ void btScaledBvhTriangleMeshShape::getAabb(const btTransform& trans,btVector3& a { btVector3 localAabbMin = m_bvhTriMeshShape->getLocalAabbMin(); btVector3 localAabbMax = m_bvhTriMeshShape->getLocalAabbMax(); - localAabbMin *= m_localScaling; - localAabbMax *= m_localScaling; + + btVector3 tmpLocalAabbMin = localAabbMin * m_localScaling; + btVector3 tmpLocalAabbMax = localAabbMax * m_localScaling; + + localAabbMin[0] = (m_localScaling.getX() >= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMin[1] = (m_localScaling.getY() >= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMin[2] = (m_localScaling.getZ() >= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; + localAabbMax[0] = (m_localScaling.getX() <= 0.) ? tmpLocalAabbMin[0] : tmpLocalAabbMax[0]; + localAabbMax[1] = (m_localScaling.getY() <= 0.) ? tmpLocalAabbMin[1] : tmpLocalAabbMax[1]; + localAabbMax[2] = (m_localScaling.getZ() <= 0.) ? tmpLocalAabbMin[2] : tmpLocalAabbMax[2]; btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); btScalar margin = m_bvhTriMeshShape->getMargin(); @@ -99,5 +117,5 @@ const btVector3& btScaledBvhTriangleMeshShape::getLocalScaling() const void btScaledBvhTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const { ///don't make this a movable object! - btAssert(0); +// btAssert(0); } |