UPBGE: Fix capsule shape issues.

Two issues from bullet were noticed:
- The scaling of capsule failed
- An high margin wasn't handled properly for the cylinder
part.

These two issues were fixed by cleaning the way bullet manages
the cone dimensions. First the attribute m_implicitShapeDimensions
store the complete half height including the radius of the hemisphere
but without the margin.
In consideration a function getExtent is implemented to return the
height without the radius as the previous getHalfHeight.
Secondly setLocalScaling scale the whole height and radius including
margin and remove the margin after scale.

About margin, the margin isn't anymore removed from height or radius
in btConvexShape::localGetSupportVertexWithoutMarginNonVirtual and
btCapsuleShape::localGetSupportingVertexWithoutMargin.

extern/bullet2/src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1303,10 +1303,10 @@ void btCollisionWorld::debugDrawObject(const btTransform& worldTransform, const
                 const btCapsuleShape* capsuleShape = static_cast<const btCapsuleShape*>(shape);
 
                 btScalar radius = capsuleShape->getRadius();
-                btScalar halfHeight = capsuleShape->getHalfHeight();
+                btScalar extend = capsuleShape->getExtend();
 
                 int upAxis = capsuleShape->getUpAxis();
-                getDebugDrawer()->drawCapsule(radius, halfHeight, upAxis, worldTransform, color);
+                getDebugDrawer()->drawCapsule(radius, extend, upAxis, worldTransform, color);
                 break;
             }
         case CONE_SHAPE_PROXYTYPE:

extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.cpp

@@ -24,6 +24,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 	m_shapeType = CAPSULE_SHAPE_PROXYTYPE;
 	m_upAxis = 1;
 	m_implicitShapeDimensions.setValue(radius,0.5f*height,radius);
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions -= margin;
 }
 
 
@@ -53,9 +55,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 
 	{
 		btVector3 pos(0,0,0);
-		pos[getUpAxis()] = getHalfHeight();
+		pos[getUpAxis()] = getExtend();
 
-		vtx = pos +vec*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius);
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -65,9 +67,9 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 	}
 	{
 		btVector3 pos(0,0,0);
-		pos[getUpAxis()] = -getHalfHeight();
+		pos[getUpAxis()] = -getExtend();
 
-		vtx = pos +vec*(radius) - vec * getMargin();
+		vtx = pos +vec*(radius);
 		newDot = vec.dot(vtx);
 		if (newDot > maxDot)
 		{
@@ -95,8 +97,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		btScalar newDot;
 		{
 			btVector3 pos(0,0,0);
-			pos[getUpAxis()] = getHalfHeight();
-			vtx = pos +vec*(radius) - vec * getMargin();
+			pos[getUpAxis()] = getExtend();
+			vtx = pos +vec*(radius);
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
@@ -106,8 +108,8 @@ btCapsuleShape::btCapsuleShape(btScalar radius, btScalar height) : btConvexInter
 		}
 		{
 			btVector3 pos(0,0,0);
-			pos[getUpAxis()] = -getHalfHeight();
-			vtx = pos +vec*(radius) - vec * getMargin();
+			pos[getUpAxis()] = -getExtend();
+			vtx = pos +vec*(radius);
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
@@ -131,9 +133,9 @@ void	btCapsuleShape::calculateLocalInertia(btScalar mass,btVector3& inertia) con
 	btScalar radius = getRadius();
 
 	btVector3 halfExtents(radius,radius,radius);
-	halfExtents[getUpAxis()]+=getHalfHeight();
+	halfExtents[getUpAxis()]+=getExtend();
 
-	btScalar margin = CONVEX_DISTANCE_MARGIN;
+	btScalar margin = getMargin();
 
 	btScalar lx=btScalar(2.)*(halfExtents[0]+margin);
 	btScalar ly=btScalar(2.)*(halfExtents[1]+margin);
@@ -153,6 +155,8 @@ btCapsuleShapeX::btCapsuleShapeX(btScalar radius,btScalar height)
 {
 	m_upAxis = 0;
 	m_implicitShapeDimensions.setValue(0.5f*height, radius,radius);
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions -= margin;
 }
 
 
@@ -164,6 +168,8 @@ btCapsuleShapeZ::btCapsuleShapeZ(btScalar radius,btScalar height)
 {
 	m_upAxis = 2;
 	m_implicitShapeDimensions.setValue(radius,radius,0.5f*height);
+	btVector3 margin(getMargin(),getMargin(),getMargin());
+	m_implicitShapeDimensions -= margin;
 }
 
 

extern/bullet2/src/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -55,13 +55,12 @@ ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
 		btConvexInternalShape::setMargin(collisionMargin);
 		btVector3 newMargin(getMargin(),getMargin(),getMargin());
 		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
 	}
 
 	virtual void getAabb (const btTransform& t, btVector3& aabbMin, btVector3& aabbMax) const
 	{
 			btVector3 halfExtents(getRadius(),getRadius(),getRadius());
-			halfExtents[m_upAxis] = getRadius() + getHalfHeight();
+			halfExtents[m_upAxis] += getExtend();
 			halfExtents += btVector3(getMargin(),getMargin(),getMargin());
 			btMatrix3x3 abs_b = t.getBasis().absolute();  
 			btVector3 center = t.getOrigin();
@@ -92,16 +91,27 @@ ATTRIBUTE_ALIGNED16(class) btCapsuleShape : public btConvexInternalShape
 		return m_implicitShapeDimensions[m_upAxis];
 	}
 
+	btScalar getExtend() const
+	{
+		return getHalfHeight() - getRadius();
+	}
+
 	virtual void	setLocalScaling(const btVector3& scaling)
 	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
+		const unsigned short r1 = (m_upAxis + 1) % 3;
+		const unsigned short r2 = (m_upAxis + 2) % 3;
 
-		btConvexInternalShape::setLocalScaling(scaling);
+		const float margin = getMargin();
+		const float halfHeight = m_implicitShapeDimensions[m_upAxis];
+		float radius = m_implicitShapeDimensions[r2];
+		float radiusWithMargin = radius + margin;
+		const float halfHeightWithMargin = halfHeight + margin;
 
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
+		const btVector3 scaleRatio = scaling / m_localScaling;
+		m_implicitShapeDimensions[r2] = radiusWithMargin * (scaleRatio[r1] + scaleRatio[r2]) / 2.0f - margin;
 
+		m_implicitShapeDimensions[m_upAxis] = halfHeightWithMargin * scaleRatio[m_upAxis] - margin;
+		btConvexInternalShape::setLocalScaling(scaling);
 	}
 
 	virtual btVector3	getAnisotropicRollingFrictionDirection() const

extern/bullet2/src/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -144,4 +144,4 @@ void	btConeShape::setLocalScaling(const btVector3& scaling)
 	m_radius *= (scaling[r1] / m_localScaling[r1] + scaling[r2] / m_localScaling[r2]) / 2;
 	m_sinAngle = (m_radius / btSqrt(m_radius * m_radius + m_height * m_height));
 	btConvexInternalShape::setLocalScaling(scaling);
-}
+}

extern/bullet2/src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -227,7 +227,7 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		btVector3 vec0(localDir.getX(),localDir.getY(),localDir.getZ());
 
 		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
-		btScalar halfHeight = capsuleShape->getHalfHeight();
+		btScalar extend = capsuleShape->getExtend();
 		int capsuleUpAxis = capsuleShape->getUpAxis();
 
 		btScalar radius = capsuleShape->getRadius();
@@ -249,10 +249,9 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		btScalar newDot;
 		{
 			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = halfHeight;
+			pos[capsuleUpAxis] = extend;
 
-			//vtx = pos +vec*(radius);
-			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius);
 			newDot = vec.dot(vtx);
 
 
@@ -264,10 +263,9 @@ btVector3 btConvexShape::localGetSupportVertexWithoutMarginNonVirtual (const btV
 		}
 		{
 			btVector3 pos(0,0,0);
-			pos[capsuleUpAxis] = -halfHeight;
+			pos[capsuleUpAxis] = -extend;
 
-			//vtx = pos +vec*(radius);
-			vtx = pos +vec*(radius) - vec * capsuleShape->getMarginNV();
+			vtx = pos +vec*(radius);
 			newDot = vec.dot(vtx);
 			if (newDot > maxDot)
 			{
@@ -426,7 +424,7 @@ void btConvexShape::getAabbNonVirtual (const btTransform& t, btVector3& aabbMin,
 		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;
 		btVector3 halfExtents(capsuleShape->getRadius(),capsuleShape->getRadius(),capsuleShape->getRadius());
 		int m_upAxis = capsuleShape->getUpAxis();
-		halfExtents[m_upAxis] = capsuleShape->getRadius() + capsuleShape->getHalfHeight();
+		halfExtents[m_upAxis] += capsuleShape->getExtend();
 		halfExtents += btVector3(capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual(),capsuleShape->getMarginNonVirtual());
 		btMatrix3x3 abs_b = t.getBasis().absolute();  
 		btVector3 center = t.getOrigin();

source/gameengine/Physics/Bullet/CcdPhysicsEnvironment.cpp

@@ -2897,7 +2897,7 @@ void CcdPhysicsEnvironment::ConvertObject(BL_BlenderSceneConverter& converter, K
 		case OB_BOUND_CAPSULE:
 		{
 			shapeInfo->m_radius = MT_max(bounds_extends[0], bounds_extends[1]);
-			shapeInfo->m_height = 2.0f * (bounds_extends[2] - shapeInfo->m_radius);
+			shapeInfo->m_height = 2.0f * bounds_extends[2];
 			if (shapeInfo->m_height < 0.0f)
 				shapeInfo->m_height = 0.0f;
 			shapeInfo->m_shapeType = PHY_SHAPE_CAPSULE;