fixed an issue with the bullet object size for primitives

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@648 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp

@@ -157,7 +157,8 @@ btCollisionShape* BulletObject::getShapeFromPrimitive(VirtualRobot::Primitive::P
     if (primitive->type == Primitive::Box::TYPE)
     {
         Primitive::Box* box = boost::dynamic_pointer_cast<Primitive::Box>(primitive).get();
-        btBoxShape *boxShape = new btBoxShape(btVector3(box->width / 1000.f, box->height / 1000.f, box->depth / 1000.f));
+        // w/h/d have to be halved
+        btBoxShape *boxShape = new btBoxShape(btVector3(box->width / 2000.f, box->height / 2000.f, box->depth / 2000.f));
         result = boxShape;
     }
     else if (primitive->type == Primitive::Sphere::TYPE)

VirtualRobot/data/objects/VitalisWithPrimitives.xml

@@ -7,8 +7,8 @@
 	</Visualization>
 	<CollisionModel>
 		<Primitives>
-			<!--Box width="136" height="190" depth="40"/-->
-			<Sphere radius="50"/>
+			<Box width="136" height="190" depth="40"/>
+			<!--Sphere radius="50"/-->
 		</Primitives>
 	</CollisionModel>
 </ManipulationObject>