Physics Simulation Forum

When I read this function I got my selfconfused in the code line;

I think it should be like this:
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
Or did I miss something,
[img]I%20attach%20a%20png%20file%20to%20show%20this:[/img]

Those extends are around the origin, so for a convex cast, aabbMin is a negative value and aabbMax is a positive value, so both need to be added to the current extents.
(for a ray test both values are zero)

Thanks,
Erwin

Hi Erwin:
I know we need to add extension to the original node aabb bound ,but take a look at my picture,I think the right formula should be :
bounds[0] -= aabbMax;(left bottom )
bounds[1] -= aabbMin;(right top)

Say we have a box cast from A to B, see picture, with the green arrow the 'aabbMin' and red arrow 'aabbMax'.



We need the AABB that bounds the swept volume, so we have to add the 'green' arrow to the A and red to B.
Thanks,
Erwin

Thanks a lot Erwin, but ...somehow ,what I mean is not the box bound the swept volumn of the convex , but the Box bound the node in the AABB tree , It seems that before perform a ray-AABB intersect :
the bullet will expands the AABB Node's bound box using the code

But I think the code shoud be:
bounds[0] = rootNode->m_aabbMinOrg;
bounds[1] = rootNode->m_aabbMaxOrg;
/* Add box cast extents */
bounds[0] -= aabbMax;
bounds[1] -= aabbMin;
As showed in my picture.
So I agree with the swept volumn box calculation of the convex box ,but I am not agree with the calculation of the box of the AABB Node(which is used to perform a ray test)

You are right, there seems to be a problem.

I'll look into it further, and filed an issue here: http://code.google.com/p/bullet/issues/detail?id=322

Thanks for the report!
Erwin

Issue has been fixed in latest trunk.

A reproduction case that show previous failure is attached to this closed issue:
http://code.google.com/p/bullet/issues/detail?id=322

Thanks a lot for the report and fix!
Erwin