Modifications in testbed for setScaling() method on objects

src/collision/ProxyShape.h

@@ -55,7 +55,7 @@ class ProxyShape {
         CollisionShape* mCollisionShape;
 
         /// Local-space to parent body-space transform (does not change over time)
-        const Transform mLocalToBodyTransform;
+        Transform mLocalToBodyTransform;
 
         /// Mass (in kilogramms) of the corresponding collision shape
         decimal mMass;
@@ -122,6 +122,9 @@ class ProxyShape {
         /// Return the local to parent body transform
         const Transform& getLocalToBodyTransform() const;
 
+        /// Set the local to parent body transform
+        void setLocalToBodyTransform(const Transform& transform);
+
         /// Return the local to world transform
         const Transform getLocalToWorldTransform() const;
 
@@ -227,6 +230,17 @@ inline const Transform& ProxyShape::getLocalToBodyTransform() const {
     return mLocalToBodyTransform;
 }
 
+// Set the local to parent body transform
+inline void ProxyShape::setLocalToBodyTransform(const Transform& transform) {
+
+    mLocalToBodyTransform = transform;
+
+    mBody->setIsSleeping(false);
+
+    // Notify the body that the proxy shape has to be updated in the broad-phase
+    mBody->updateProxyShapeInBroadPhase(this, true);
+}
+
 // Return the local to world transform
 /**
  * @return The transformation that transforms the local-space of the collision
@@ -316,6 +330,8 @@ inline void ProxyShape::setLocalScaling(const Vector3& scaling) {
     // Set the local scaling of the collision shape
     mCollisionShape->setLocalScaling(scaling);
 
+    mBody->setIsSleeping(false);
+
     // Notify the body that the proxy shape has to be updated in the broad-phase
     mBody->updateProxyShapeInBroadPhase(this, true);
 }

src/collision/shapes/CapsuleShape.h

@@ -128,7 +128,7 @@ inline decimal CapsuleShape::getHeight() const {
     return mHalfHeight + mHalfHeight;
 }
 
-/// Set the scaling vector of the collision shape
+// Set the scaling vector of the collision shape
 inline void CapsuleShape::setLocalScaling(const Vector3& scaling) {
 
     mHalfHeight = (mHalfHeight / mScaling.y) * scaling.y;

testbed/common/Capsule.cpp

@@ -47,7 +47,7 @@ Capsule::Capsule(float radius, float height, const openglframework::Vector3& pos
 
     // Compute the scaling matrix
     mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, (mHeight + 2.0f * mRadius) / 3.0f, 0,0,
+                                              0, (mHeight + 2.0f * mRadius) / 3, 0,0,
                                               0, 0, mRadius, 0,
                                               0, 0, 0, 1.0f);
 
@@ -290,7 +290,7 @@ void Capsule::setScaling(const openglframework::Vector3& scaling) {
 
     // Scale the graphics object
     mScalingMatrix = openglframework::Matrix4(mRadius * scaling.x, 0, 0, 0,
-                                              0, (mHeight + 2.0f * mRadius) / 3.0f * scaling.y, 0,0,
+                                              0, (mHeight * scaling.y + 2.0f * mRadius * scaling.x) / 3, 0,0,
-                                              0, 0, mRadius * scaling.z, 0,
+                                              0, 0, mRadius * scaling.x, 0,
                                               0, 0, 0, 1.0f);
 }

testbed/common/Dumbbell.cpp

@@ -47,6 +47,8 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     // Identity scaling matrix
     mScalingMatrix.setToIdentity();
 
+    mDistanceBetweenSphere = 8.0f;
+
     // Initialize the position where the sphere will be rendered
     translateWorld(position);
 
@@ -74,10 +76,10 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     mPreviousTransform = transformBody;
 
     // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
-    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
+    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
 
     // Initial transform of the second sphere collision shape of the dumbell (in local-space)
-    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
+    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
 
     // Initial transform of the cylinder collision shape of the dumbell (in local-space)
     rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
@@ -116,6 +118,8 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     // Identity scaling matrix
     mScalingMatrix.setToIdentity();
 
+    mDistanceBetweenSphere = 8.0f;
+
     // Initialize the position where the sphere will be rendered
     translateWorld(position);
 
@@ -139,10 +143,10 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     rp3d::Transform transformBody(initPosition, initOrientation);
 
     // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
-    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
+    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
 
     // Initial transform of the second sphere collision shape of the dumbell (in local-space)
-    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
+    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
 
     // Initial transform of the cylinder collision shape of the dumbell (in local-space)
     rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
@@ -325,6 +329,17 @@ void Dumbbell::setScaling(const openglframework::Vector3& scaling) {
     mProxyShapeSphere1->setLocalScaling(newScaling);
     mProxyShapeSphere2->setLocalScaling(newScaling);
 
+    mDistanceBetweenSphere = (mDistanceBetweenSphere / mScalingMatrix.getValue(1, 1)) * scaling.y;
+
+    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
+    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
+
+    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
+    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
+
+    mProxyShapeSphere1->setLocalToBodyTransform(transformSphereShape1);
+    mProxyShapeSphere2->setLocalToBodyTransform(transformSphereShape2);
+
     // Scale the graphics object
     mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
                                               0, scaling.y, 0, 0,

testbed/common/Dumbbell.h

@@ -39,7 +39,7 @@ class Dumbbell : public openglframework::Mesh, public PhysicsObject {
         // -------------------- Attributes -------------------- //
 
         /// Radius of the spheres
-        float mRadius;
+        float mDistanceBetweenSphere;
 
         /// Collision shapes
         rp3d::CylinderShape* mCylinderShape;

testbed/src/Scene.h

@@ -47,7 +47,7 @@ struct EngineSettings {
 
     public:
 
-       float elapsedTime;                   // Elapsed time (in seconds)
+       long double elapsedTime;             // Elapsed time (in seconds)
        float timeStep;                      // Current time step (in seconds)
        int nbVelocitySolverIterations;      // Nb of velocity solver iterations
        int nbPositionSolverIterations;      // Nb of position solver iterations