Changeset 2882 for code/trunk/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp (modified) (9 diffs)

code/trunk/src/bullet/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -23 +23 @@
 m_collisionMargin(btScalar(0.)),
 m_localScaling(btScalar(1.),btScalar(1.),btScalar(1.)),
-m_dynamicAabbTree(0)
+m_dynamicAabbTree(0),
+m_updateRevision(1)
 {
         m_shapeType = COMPOUND_SHAPE_PROXYTYPE;
@@ -47 +48 @@
 void    btCompoundShape::addChildShape(const btTransform& localTransform,btCollisionShape* shape)
 {
+        m_updateRevision++;
         //m_childTransforms.push_back(localTransform);
         //m_childShapes.push_back(shape);
@@ -55 +57 @@
         child.m_childMargin = shape->getMargin();
 
-        m_children.push_back(child);
-
+        
         //extend the local aabbMin/aabbMax
         btVector3 localAabbMin,localAabbMax;
@@ -75 +76 @@
         {
                 const btDbvtVolume      bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
-                int index = m_children.size()-1;
+                int index = m_children.size();
                 child.m_node = m_dynamicAabbTree->insert(bounds,(void*)index);
         }
+
+        m_children.push_back(child);
 
 }
@@ -100 +103 @@
 void btCompoundShape::removeChildShapeByIndex(int childShapeIndex)
 {
+        m_updateRevision++;
         btAssert(childShapeIndex >=0 && childShapeIndex < m_children.size());
         if (m_dynamicAabbTree)
@@ -114 +118 @@
 void btCompoundShape::removeChildShape(btCollisionShape* shape)
 {
+        m_updateRevision++;
         // Find the children containing the shape specified, and remove those children.
         //note: there might be multiple children using the same shape!
@@ -140 +145 @@
         // Recalculate the local aabb
         // Brute force, it iterates over all the shapes left.
+
         m_localAabbMin = btVector3(btScalar(1e30),btScalar(1e30),btScalar(1e30));
         m_localAabbMax = btVector3(btScalar(-1e30),btScalar(-1e30),btScalar(-1e30));
@@ -162 +168 @@
 {
         btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
+        btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+        
+        //avoid an illegal AABB when there are no children
+        if (!m_children.size())
+        {
+                localHalfExtents.setValue(0,0,0);
+                localCenter.setValue(0,0,0);
+        }
         localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
-        btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
+                
 
         btMatrix3x3 abs_b = trans.getBasis().absolute();  
@@ -174 +188 @@
         aabbMin = center-extent;
         aabbMax = center+extent;
-
+        
 }