Local scaling on Convex Hull is broken

[pico]

Hi Erwin,

i found a serious problem (v2.70):

1. Make a uniform convex hull, apply local scaling
2. Make a box, the scale of one axis must be <= size of a convex hull axis
3. Simulation won't recognize collision early enough and system explodes

I modified BasicDemo.cpp to show the problem.

When removing the local scaling and applying the scale instead to the vertices the simulation works as intended.
Use the #define USE_LOCAL_SCALE to toggle the behaviors (line 141).

regards

[Erwin Coumans]

The local aabb needs to be recalculated, after a call to setLocalScaling.

It has been fixed in the subversion repository. If you can't wait for the fix, one workaround is to call the 'setLocalScaling' before adding the vertices. Or just call 'recalcLocalAabb' on the btConvexHullShape, after setLocalScaling.

Thanks for the report and reproduction case!
Erwin