Bug in btCapsuleShape::getAabb

[ryanjuckett]

I'm running version 2.67 and noticed that the capsule shape was returning an AABB larger than the capsule. On btCapsuleShape.h line 51 you will see:

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halfExtents[m_upAxis] = getRadius()*btScalar(2.0) + btScalar(0.5)*getHalfHeight();

which is resulting in a value larger than the capsule half extent. I have changed it to:

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halfExtents[m_upAxis] = getRadius() + getHalfHeight();

and am now getting the expected behavior.

[Erwin Coumans]

That is a good catch. Note that it only degrades performance, a larger (more conservative) AABB should be fine.

It has been fixed in subversion, and uploaded in a bug-fix release, Bullet 2.67 new.
Thanks for the help,
Erwin