Fix issues related to local scaling in ConvexMeshShape

src/collision/shapes/ConcaveMeshShape.h

@@ -102,7 +102,7 @@ class ConcaveMeshRaycastCallback : public DynamicAABBTreeRaycastCallback {
 
 // Class ConcaveMeshShape
 /**
- * This class represents a concave mesh shape. Note that collision detection
+ * This class represents a static concave mesh shape. Note that collision detection
  * with a concave mesh shape can be very expensive. You should use only use
  * this shape for a static mesh.
  */
@@ -129,14 +129,6 @@ class ConcaveMeshShape : public ConcaveShape {
         /// Private assignment operator
         ConcaveMeshShape& operator=(const ConcaveMeshShape& shape);
 
-        /// Return a local support point in a given direction with the object margin
-        virtual Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
-                                                       void** cachedCollisionData) const;
-
-        /// Return a local support point in a given direction without the object margin
-        virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                          void** cachedCollisionData) const;
-
         /// Raycast method with feedback information
         virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape) const;
 
@@ -188,23 +180,6 @@ inline size_t ConcaveMeshShape::getSizeInBytes() const {
     return sizeof(ConcaveMeshShape);
 }
 
-// Return a local support point in a given direction with the object margin
-inline Vector3 ConcaveMeshShape::getLocalSupportPointWithMargin(const Vector3& direction,
-                                                           void** cachedCollisionData) const {
-
-    // Should not be used
-    assert(false);
-    return Vector3(0, 0, 0);
-}
-
-// Return a local support point in a given direction without the object margin
-inline Vector3 ConcaveMeshShape::getLocalSupportPointWithoutMargin(const Vector3& direction,
-                                                              void** cachedCollisionData) const {
-    // Should not be used
-    assert(false);
-    return Vector3(0.0, 0.0, 0.0);
-}
-
 // Return the local bounds of the shape in x, y and z directions.
 // This method is used to compute the AABB of the box
 /**
@@ -232,7 +207,7 @@ inline void ConcaveMeshShape::setLocalScaling(const Vector3& scaling) {
     initBVHTree();
 }
 
-// Return the local inertia tensor of the sphere
+// Return the local inertia tensor of the shape
 /**
  * @param[out] tensor The 3x3 inertia tensor matrix of the shape in local-space
  *                    coordinates

src/collision/shapes/ConvexMeshShape.cpp

@@ -38,8 +38,7 @@ using namespace reactphysics3d;
  * @param stride Stride between the beginning of two elements in the vertices array
  * @param margin Collision margin (in meters) around the collision shape
  */
-ConvexMeshShape::ConvexMeshShape(const decimal* arrayVertices, uint nbVertices, int stride,
+ConvexMeshShape::ConvexMeshShape(const decimal* arrayVertices, uint nbVertices, int stride, decimal margin)
-                                 decimal margin)
                 : ConvexShape(CONVEX_MESH, margin), mNbVertices(nbVertices), mMinBounds(0, 0, 0),
                   mMaxBounds(0, 0, 0), mIsEdgesInformationUsed(false) {
     assert(nbVertices > 0);
@@ -268,6 +267,10 @@ void ConvexMeshShape::recalculateBounds() {
         if (mVertices[i].z < mMinBounds.z) mMinBounds.z = mVertices[i].z;
     }
 
+    // Apply the local scaling factor
+    mMaxBounds = mMaxBounds * mScaling;
+    mMinBounds = mMinBounds * mScaling;
+
     // Add the object margin to the bounds
     mMaxBounds += Vector3(mMargin, mMargin, mMargin);
     mMinBounds -= Vector3(mMargin, mMargin, mMargin);

src/collision/shapes/ConvexMeshShape.h

@@ -42,11 +42,6 @@ namespace reactphysics3d {
 // Declaration
 class CollisionWorld;
 
-// TODO : Make possible to create a ConvexMeshShape using a TriangleMesh as for
-// the ConcaveMeshShape
-
-// TODO : Check that scaling factor is working after the change of the previous TODO
-
 // Class ConvexMeshShape
 /**
  * This class represents a convex mesh shape. In order to create a convex mesh shape, you
@@ -99,6 +94,9 @@ class ConvexMeshShape : public ConvexShape {
         /// Recompute the bounds of the mesh
         void recalculateBounds();
 
+        /// Set the scaling vector of the collision shape
+        virtual void setLocalScaling(const Vector3& scaling);
+
         /// Return a local support point in a given direction with the object margin
         virtual Vector3 getLocalSupportPointWithMargin(const Vector3& direction,
                                                        void** cachedCollisionData) const;
@@ -154,6 +152,12 @@ class ConvexMeshShape : public ConvexShape {
         void setIsEdgesInformationUsed(bool isEdgesUsed);
 };
 
+/// Set the scaling vector of the collision shape
+inline void ConvexMeshShape::setLocalScaling(const Vector3& scaling) {
+    ConvexShape::setLocalScaling(scaling);
+    recalculateBounds();
+}
+
 // Return the number of bytes used by the collision shape
 inline size_t ConvexMeshShape::getSizeInBytes() const {
     return sizeof(ConvexMeshShape);
@@ -200,12 +204,12 @@ inline void ConvexMeshShape::addVertex(const Vector3& vertex) {
     mNbVertices++;
 
     // Update the bounds of the mesh
-    if (vertex.x > mMaxBounds.x) mMaxBounds.x = vertex.x;
+    if (vertex.x * mScaling.x > mMaxBounds.x) mMaxBounds.x = vertex.x * mScaling.x;
-    if (vertex.x < mMinBounds.x) mMinBounds.x = vertex.x;
+    if (vertex.x * mScaling.x < mMinBounds.x) mMinBounds.x = vertex.x * mScaling.x;
-    if (vertex.y > mMaxBounds.y) mMaxBounds.y = vertex.y;
+    if (vertex.y * mScaling.y > mMaxBounds.y) mMaxBounds.y = vertex.y * mScaling.y;
-    if (vertex.y < mMinBounds.y) mMinBounds.y = vertex.y;
+    if (vertex.y * mScaling.y < mMinBounds.y) mMinBounds.y = vertex.y * mScaling.y;
-    if (vertex.z > mMaxBounds.z) mMaxBounds.z = vertex.z;
+    if (vertex.z * mScaling.z > mMaxBounds.z) mMaxBounds.z = vertex.z * mScaling.z;
-    if (vertex.z < mMinBounds.z) mMinBounds.z = vertex.z;
+    if (vertex.z * mScaling.z < mMinBounds.z) mMinBounds.z = vertex.z * mScaling.z;
 }
 
 // Add an edge into the convex mesh by specifying the two vertex indices of the edge.