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 collisionTester::setTransformFromOF(ofMatrix4x4& mat, ofVec3f& s, btCollisionObject& obj){
btTransform trans;
trans.setFromOpenGLMatrix(mat.getPtr());
obj.setWorldTransform(trans);
obj.getCollisionShape()->setLocalScaling(btVector3(s.x, s.y, s.z));
}