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); }