Commit 50b6ae3e authored by elsid's avatar elsid

Fix calculation for shape local AABB

parent af2f4e84
......@@ -297,7 +297,7 @@ namespace
TEST_F(DetourNavigatorRecastMeshBuilderTest, with_bounds_add_rotated_by_x_bhv_triangle_shape_should_filter_by_bounds)
{
mBounds.mMin = osg::Vec2f(-5, -5);
mBounds.mMax = osg::Vec2f(5, -3);
mBounds.mMax = osg::Vec2f(5, -2);
btTriangleMesh mesh;
mesh.addTriangle(btVector3(0, -1, -1), btVector3(0, -1, -1), btVector3(0, 1, -1));
mesh.addTriangle(btVector3(0, -3, -3), btVector3(0, -3, -2), btVector3(0, -2, -3));
......
......@@ -135,24 +135,35 @@ namespace DetourNavigator
{
btVector3 aabbMin;
btVector3 aabbMax;
shape.getAabb(btTransform::getIdentity(), aabbMin, aabbMax);
const btVector3 boundsMinMin(mBounds.mMin.x(), mBounds.mMin.y(), 0);
const btVector3 boundsMinMax(mBounds.mMin.x(), mBounds.mMax.y(), 0);
const btVector3 boundsMaxMin(mBounds.mMax.x(), mBounds.mMin.y(), 0);
const btVector3 boundsMaxMax(mBounds.mMax.x(), mBounds.mMax.y(), 0);
aabbMin = transform(aabbMin);
aabbMax = transform(aabbMax);
aabbMin.setX(std::max(mBounds.mMin.x(), aabbMin.x()));
aabbMin.setX(std::min(mBounds.mMax.x(), aabbMin.x()));
aabbMin.setY(std::max(mBounds.mMin.y(), aabbMin.y()));
aabbMin.setY(std::min(mBounds.mMax.y(), aabbMin.y()));
aabbMax.setX(std::max(mBounds.mMin.x(), aabbMax.x()));
aabbMax.setX(std::min(mBounds.mMax.x(), aabbMax.x()));
aabbMax.setY(std::max(mBounds.mMin.y(), aabbMax.y()));
aabbMax.setY(std::min(mBounds.mMax.y(), aabbMax.y()));
const auto inversedTransform = transform.inverse();
const auto localBoundsMinMin = inversedTransform(boundsMinMin);
const auto localBoundsMinMax = inversedTransform(boundsMinMax);
const auto localBoundsMaxMin = inversedTransform(boundsMaxMin);
const auto localBoundsMaxMax = inversedTransform(boundsMaxMax);
aabbMin.setX(std::min({localBoundsMinMin.x(), localBoundsMinMax.x(),
localBoundsMaxMin.x(), localBoundsMaxMax.x()}));
aabbMin.setY(std::min({localBoundsMinMin.y(), localBoundsMinMax.y(),
localBoundsMaxMin.y(), localBoundsMaxMax.y()}));
aabbMax.setX(std::max({localBoundsMinMin.x(), localBoundsMinMax.x(),
localBoundsMaxMin.x(), localBoundsMaxMax.x()}));
aabbMax.setY(std::max({localBoundsMinMin.y(), localBoundsMinMax.y(),
localBoundsMaxMin.y(), localBoundsMaxMax.y()}));
aabbMin = inversedTransform(aabbMin);
aabbMax = inversedTransform(aabbMax);
aabbMin.setX(std::min(aabbMin.x(), aabbMax.x()));
aabbMin.setY(std::min(aabbMin.y(), aabbMax.y()));
aabbMin.setZ(std::min(aabbMin.z(), aabbMax.z()));
aabbMax.setX(std::max(aabbMin.x(), aabbMax.x()));
aabbMax.setY(std::max(aabbMin.y(), aabbMax.y()));
aabbMax.setZ(std::max(aabbMin.z(), aabbMax.z()));
shape.processAllTriangles(&callback, aabbMin, aabbMax);
}
......
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