void btBvhTriangleMeshShape::setLocalScaling(const btVector3& scaling)
{
if ((getLocalScaling() -scaling).length2() > SIMD_EPSILON)
{
btTriangleMeshShape::setLocalScaling(scaling);
buildOptimizedBvh();
}
}
///Bvh Concave triangle mesh is a static-triangle mesh shape with Bounding Volume Hierarchy optimization.
///Uses an interface to access the triangles to allow for sharing graphics/physics triangles.
btBvhTriangleMeshShape::btBvhTriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression, bool buildBvh)
:btTriangleMeshShape(meshInterface),
m_bvh(0),
m_triangleInfoMap(0),
m_useQuantizedAabbCompression(useQuantizedAabbCompression),
m_ownsBvh(false)
{
m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
//construct bvh from meshInterface
#ifndef DISABLE_BVH
if (buildBvh)
{
buildOptimizedBvh();
}
#endif //DISABLE_BVH
}
void setCollisionShape(CollisionShape c, const std::string &meshName = "")
{
if (c == UNDEFINED)
return;
_meshName = meshName;
_reset();
_shapeType = c;
btTransform transform;
glm::vec3 position = posFromMat4(_entity->getLocalTransform());
glm::vec3 scale = scaleFromMat4(_entity->getLocalTransform());
std::cout << scale.x << " " << scale.y << " " << scale.z << std::endl;
glm::vec3 rot = rotFromMat4(_entity->getLocalTransform(), true);
transform.setIdentity();
transform.setOrigin(convertGLMVectorToBullet(position));
transform.setRotation(btQuaternion(rot.x, rot.y, rot.z));
_motionState = new btDefaultMotionState(transform);
if (c == BOX)
{
_collisionShape = new btBoxShape(btVector3(0.5, 0.5, 0.5));//new btBoxShape(halfScale);
}
else if (c == SPHERE)
{
_collisionShape = new btSphereShape(0.5);//new btSphereShape(scale.x);
}
else if (c == MESH)
{
// THERE IS SOME LEAKS BECAUSE THAT'S TEMPORARY
SmartPointer<Resources::SharedMesh> mesh = _scene->getEngine().getInstance<Resources::ResourceManager>().getResource(meshName);
auto group = new btCompoundShape();
auto &geos = mesh->getGeometry();
for (unsigned int i = 0; i < geos.size(); ++i)
{
const Resources::Geometry &geo = geos[i]; // DIRTY HACK TEMPORARY
// NEED TO REPLACE MESH BY MESH GROUP !
btScalar *t = new btScalar[geo.vertices.size() * 3]();
for (unsigned int it = 0; it < geo.vertices.size(); ++it)
{
t[it * 3] = geo.vertices[it].x;
t[it * 3 + 1] = geo.vertices[it].y;
t[it * 3 + 2] = geo.vertices[it].z;
}
btConvexHullShape *tmp = new btConvexHullShape(t, geo.vertices.size(), 3 * sizeof(btScalar));
btShapeHull *hull = new btShapeHull(tmp);
btScalar margin = tmp->getMargin();
hull->buildHull(margin);
tmp->setUserPointer(hull);
btConvexHullShape *s = new btConvexHullShape();
for (int it = 0; it < hull->numVertices(); ++it)
{
s->addPoint(hull->getVertexPointer()[it], false);
}
s->recalcLocalAabb();
btTransform localTrans;
localTrans.setIdentity();
_collisionShape = s;
group->addChildShape(localTrans,s);
delete[] t;
delete hull;
delete tmp;
}
_collisionShape = group;
}
else if (c == CONCAVE_STATIC_MESH) // dont work
{
SmartPointer<Resources::SharedMesh> mesh = _scene->getEngine().getInstance<Resources::ResourceManager>().getResource(meshName);
auto trimesh = new btTriangleMesh();
auto &geos = mesh->getGeometry();
for (unsigned int j = 0; j < geos.size(); ++j)
{
const Resources::Geometry &geo = geos[j];
for (unsigned int i = 2; i < geo.vertices.size(); i += 3)
{
trimesh->addTriangle(btVector3(geo.vertices[i - 2].x, geo.vertices[i - 2].y, geo.vertices[i - 2].z)
, btVector3(geo.vertices[i - 1].x, geo.vertices[i - 1].y, geo.vertices[i - 1].z)
, btVector3(geo.vertices[i].x, geo.vertices[i].y, geo.vertices[i].z));
}
}
auto bvh = new btBvhTriangleMeshShape(trimesh, true);
bvh->buildOptimizedBvh();
bool isit = bvh->isConcave();
_collisionShape = bvh;
}
if (_mass != 0)
_collisionShape->calculateLocalInertia(_mass, _inertia);
_collisionShape->setLocalScaling(convertGLMVectorToBullet(scale));
_rigidBody = new btRigidBody(_mass, _motionState, _collisionShape, _inertia);
_rigidBody->setUserPointer(&_entity);
_rigidBody->setAngularFactor(convertGLMVectorToBullet(_rotationConstraint));
_rigidBody->setLinearFactor(convertGLMVectorToBullet(_transformConstraint));
if (_rigidBody->isStaticObject())
{
_rigidBody->setActivationState(DISABLE_SIMULATION);
}
_manager->getWorld()->addRigidBody(_rigidBody);
}
