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Check and correct for zero scaling when unscaling Bullet basis.

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(cherry picked from commit 4b14916288)
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Marcel Admiraal 2020-08-21 14:05:32 +01:00 committed by Rémi Verschelde
parent 1f7a3e0f8d
commit a9b5dc56a6
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GPG key ID: C3336907360768E1
1 changed files with 54 additions and 5 deletions
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59
modules/bullet/bullet_types_converter.cpp
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@ -95,12 +95,61 @@ void G_TO_B(Transform const &inVal, btTransform &outVal) {
}
void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
btMatrix3x3 &m(scaledBasis.getBasis());
btVector3 column0(m[0][0], m[1][0], m[2][0]);
btVector3 column1(m[0][1], m[1][1], m[2][1]);
btVector3 column2(m[0][2], m[1][2], m[2][2]);
btMatrix3x3 &basis(scaledBasis.getBasis());
btVector3 column0 = basis.getColumn(0);
btVector3 column1 = basis.getColumn(1);
btVector3 column2 = basis.getColumn(2);
// Check for zero scaling.
if (btFuzzyZero(column0[0])) {
if (btFuzzyZero(column1[1])) {
if (btFuzzyZero(column2[2])) {
// All dimensions are fuzzy zero. Create a default basis.
column0 = btVector3(1, 0, 0);
column1 = btVector3(0, 1, 0);
column2 = btVector3(0, 0, 1);
} else { // Column 2 scale not fuzzy zero.
// Create two vectors orthogonal to row 2.
// Ensure that a default basis is created if row 2 = <0, 0, 1>
column1 = btVector3(0, column2[2], -column2[1]);
column0 = column1.cross(column2);
}
} else { // Column 1 scale not fuzzy zero.
if (btFuzzyZero(column2[2])) {
// Create two vectors othogonal to column 1.
// Ensure that a default basis is created if column 1 = <0, 1, 0>
column0 = btVector3(column1[1], -column1[0], 0);
column2 = column0.cross(column1);
} else { // Column 1 and column 2 scales not fuzzy zero.
// Create column 0 orthogonal to column 1 and column 2.
column0 = column1.cross(column2);
}
}
} else { // Column 0 scale not fuzzy zero.
if (btFuzzyZero(column1[1])) {
if (btFuzzyZero(column2[2])) {
// Create two vectors orthogonal to column 0.
// Ensure that a default basis is created if column 0 = <1, 0, 0>
column2 = btVector3(-column0[2], 0, column0[0]);
column1 = column2.cross(column0);
} else { // Column 0 and column 2 scales not fuzzy zero.
// Create column 1 orthogonal to column 0 and column 2.
column1 = column2.cross(column0);
}
} else { // Column 0 and column 1 scales not fuzzy zero.
if (btFuzzyZero(column2[2])) {
// Create column 2 orthogonal to column 0 and column 1.
column2 = column0.cross(column1);
}
}
}
// Normalize
column0.normalize();
column1.normalize();
column2.normalize();
m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]);
basis.setValue(column0[0], column1[0], column2[0],
column0[1], column1[1], column2[1],
column0[2], column1[2], column2[2]);
}