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| author | Erwin Coumans <erwin.coumans@gmail.com> | 2020-08-10 17:00:19 -0700 |
|---|---|---|
| committer | Erwin Coumans <erwin.coumans@gmail.com> | 2020-08-10 17:00:19 -0700 |
| commit | 7d9bcafda8649dee657a727bc2f5d1a4c6beb609 (patch) | |
| tree | c31d261a979bfe230027fad6dd42498193b8edba | |
| parent | 39500cccaade0beec53e7343f7e03597ff880b8b (diff) | |
| download | bullet3-7d9bcafda8649dee657a727bc2f5d1a4c6beb609.tar.gz | |
when using stablePDPlugin, approximate inertia by box for unsupported shapes.
| -rw-r--r-- | examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp | 17 |
1 files changed, 16 insertions, 1 deletions
diff --git a/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp b/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp index 224afaf9a..cb6bacd33 100644 --- a/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp +++ b/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp @@ -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; } } } |