void ProcessChildShape(btCollisionShape* childShape,int index)
{
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
//backup
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
const btTransform& childTrans = compoundShape->getChildTransform(index);
btTransform newChildWorldTrans = orgTrans*childTrans ;
//perform an AABB check first
btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
{
m_compoundColObj->setWorldTransform( newChildWorldTrans);
m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
//the contactpoint is still projected back using the original inverted worldtrans
btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
if (!m_childCollisionAlgorithms[index])
m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
///detect swapping case
if (m_resultOut->getBody0Internal() == m_compoundColObj)
{
m_resultOut->setShapeIdentifiersA(-1,index);
} else
{
m_resultOut->setShapeIdentifiersB(-1,index);
}
m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
}
//revert back transform
m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
m_compoundColObj->setWorldTransform( orgTrans );
m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
}
}
void render()
{
btScalar childMat[16];
m_bulletObject->getWorldTransform().getOpenGLMatrix(childMat);
if (m_texture)
{
m_texture->initOpenGLTexture();
glBindTexture(GL_TEXTURE_2D,m_texture->m_textureName);
glEnable(GL_TEXTURE_2D);
glDisable(GL_TEXTURE_GEN_S);
glDisable(GL_TEXTURE_GEN_T);
glDisable(GL_TEXTURE_GEN_R);
glBlendFunc(GL_SRC_ALPHA,GL_ONE);
glDepthFunc (GL_LEQUAL);
glDisable(GL_BLEND);
glEnable (GL_DEPTH_TEST);
glMatrixMode(GL_TEXTURE);
glMatrixMode(GL_MODELVIEW);
} else
{
glDisable(GL_TEXTURE_2D);
}
glDisable(GL_LIGHTING);
glPushMatrix();
btglMultMatrix(childMat);
//glColorMask(GL_FALSE,GL_FALSE,GL_FALSE,GL_FALSE);
glBegin(GL_TRIANGLES);
glColor4f(1, 1, 1,1);
for (int i=0;i<m_indices.size();i++)
{
glNormal3f(1.f,0.f,0.f);
glTexCoord2f(m_vertices[m_indices[i]].m_uv1[0],m_vertices[m_indices[i]].m_uv1[1]);
glVertex3f(m_vertices[m_indices[i]].m_localxyz.getX(),m_vertices[m_indices[i]].m_localxyz.getY(),m_vertices[m_indices[i]].m_localxyz.getZ());
}
glEnd();
glPopMatrix();
}
void Process(const btDbvtNode* leaf)
{
int index = leaf->dataAsInt;
btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
btCollisionShape* childShape = compoundShape->getChildShape(index);
if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
{
btVector3 worldAabbMin,worldAabbMax;
btTransform orgTrans = m_compoundColObj->getWorldTransform();
btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
}
ProcessChildShape(childShape,index);
}