EntityList PhysicsWorld::ObbCollisionQuery(const OBB &obb, int collisionGroup, int collisionMask)
{
PROFILE(PhysicsWorld_ObbCollisionQuery);
std::set<btCollisionObjectWrapper*> objects;
EntityList entities;
btBoxShape box(obb.HalfSize()); // Note: Bullet uses box halfsize
float3x3 m(obb.axis[0], obb.axis[1], obb.axis[2]);
btTransform t1(m.ToQuat(), obb.CenterPoint());
#include "DisableMemoryLeakCheck.h"
btRigidBody* tempRigidBody = new btRigidBody(1.0f, 0, &box);
#include "EnableMemoryLeakCheck.h"
tempRigidBody->setWorldTransform(t1);
world_->addRigidBody(tempRigidBody, collisionGroup, collisionMask);
tempRigidBody->activate(); // To make sure we get collision results from static sleeping rigidbodies, activate the temp rigid body
ObbCallback resultCallback(objects);
world_->contactTest(tempRigidBody, resultCallback);
for (std::set<btCollisionObjectWrapper*>::iterator i = objects.begin(); i != objects.end(); ++i)
{
EC_RigidBody* body = static_cast<EC_RigidBody*>((*i)->getCollisionObject()->getUserPointer());
if (body && body->ParentEntity())
entities.push_back(body->ParentEntity()->shared_from_this());
}
world_->removeRigidBody(tempRigidBody);
delete tempRigidBody;
return entities;
}
