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Code Issues Releases Wiki Activity

when using stablePDPlugin, approximate inertia by box for unsupported shapes.

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This commit is contained in:
Erwin Coumans 2020-08-10 17:00:19 -07:00
parent 39500cccaa
commit 7d9bcafda8
1 changed files with 16 additions and 1 deletions
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17
examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
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@ -93,6 +93,7 @@ bool btExtractJointBodyFromTempLinks(btAlignedObjectArray<TempLink>& links, Eige
collisionShape = compound->getChildShape(0);
}
}
switch (collisionShape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
@ -102,6 +103,7 @@ bool btExtractJointBodyFromTempLinks(btAlignedObjectArray<TempLink>& links, Eige
param0 = box->getHalfExtentsWithMargin()[0] * 2;
param1 = box->getHalfExtentsWithMargin()[1] * 2;
param2 = box->getHalfExtentsWithMargin()[2] * 2;
break;
}
case SPHERE_SHAPE_PROXYTYPE:
@ -124,7 +126,20 @@ bool btExtractJointBodyFromTempLinks(btAlignedObjectArray<TempLink>& links, Eige
}
default:
{
btAssert(0);
//approximate by its box
btTransform identity;
identity.setIdentity();
btVector3 aabbMin, aabbMax;
collisionShape->getAabb(identity, aabbMin, aabbMax);
btVector3 halfExtents = (aabbMax - aabbMin) * btScalar(0.5);
btScalar margin = collisionShape->getMargin();
btScalar lx = btScalar(2.) * (halfExtents.x() + margin);
btScalar ly = btScalar(2.) * (halfExtents.y() + margin);
btScalar lz = btScalar(2.) * (halfExtents.z() + margin);
param0 = lx;
param1 = ly;
param2 = lz;
shapeType = cShape::eShapeBox;
}
}
}