Confused about localScaling

[Volker]

Does it make sense, that when I set the localScaling of a btConvexTriangleMeshShape it will store the scaling by calling m_stridingMesh->setScaling(scaling); but when I call getLocalScaling on the btConvexTriangleMeshShape I will get the member variable m_localScaling from the btConvexShape class?

In this case these values are not equal!

[Volker]

Another curiosity is in btBvhTriangleMeshShape::setLocalScaling:

within this method btTriangleMeshShape::setLocalScaling is called which recalculates m_localAabbMin and m_localAabbMax. But after this recalculation these two variables are multiplicated with the given scaling again which results in a quadratic scaling, e.g. when specifying a scale of 3 the m_localAabbMin and -Max has a scale of 9.

[Volker]

And again some confusion.

The getScaling of the btMatrix3x3 seems to return the squared scaling instead of the real scaling. Perhaps this should be mentioned in the documentation.

[Erwin Coumans]

This local scaling issue will be fixed for convex and concave triangle meshes.
Note that not all shapes support local non-uniform scaling, in particar btSphereShape. If you want a non-uniform scaled sphere, you need to use btMultiSphereShape.

Scaling functionality should have been removed from transforms (btTransform) and this remainder will be removed from btMatrix3x3.

Thanks for the feedback!
Erwin