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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
}
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