int CLPhysicsDemo::registerPhysicsInstance(float mass, const float* position, const float* orientation, int collidableIndex, int userIndex)
{
btVector3 aabbMin(0,0,0),aabbMax(0,0,0);
if (collidableIndex>=0)
{
btAABBHost hostLocalAabbMin = m_data->m_localShapeAABBCPU->at(collidableIndex*2);
btAABBHost hostLocalAabbMax = m_data->m_localShapeAABBCPU->at(collidableIndex*2+1);
btVector3 localAabbMin(hostLocalAabbMin.fx,hostLocalAabbMin.fy,hostLocalAabbMin.fz);
btVector3 localAabbMax(hostLocalAabbMax.fx,hostLocalAabbMax.fy,hostLocalAabbMax.fz);
btScalar margin = 0.01f;
btTransform t;
t.setIdentity();
t.setOrigin(btVector3(position[0],position[1],position[2]));
t.setRotation(btQuaternion(orientation[0],orientation[1],orientation[2],orientation[3]));
btTransformAabb(localAabbMin,localAabbMax, margin,t,aabbMin,aabbMax);
//(position[0],position[0],position[0]);
//aabbMin -= btVector3(400.f,410.f,400.f);
//aabbMax += btVector3(400.f,410.f,400.f);
//btBroadphaseProxy* proxy = m_data->m_Broadphase->createProxy(aabbMin,aabbMax,collisionShapeIndex,userPointer,1,1,0,0);//m_dispatcher);
if (useSapGpuBroadphase)
m_data->m_BroadphaseSap->createProxy(aabbMin,aabbMax,userIndex,1,1);//m_dispatcher);
else
{
void* userPtr = (void*)userIndex;
m_data->m_BroadphaseGrid->createProxy(aabbMin,aabbMax,collidableIndex,userPtr ,1,1);//m_dispatcher);
}
}
bool writeToGpu = false;
int bodyIndex = -1;
m_data->m_linVelHost.push_back(btVector3(0,0,0));
m_data->m_angVelHost.push_back(btVector3(0,0,0));
m_data->m_bodyTimesHost.push_back(0.f);
if (narrowphaseAndSolver)
{
//bodyIndex = narrowphaseAndSolver->registerRigidBody(collisionShapeIndex,CollisionShape::SHAPE_CONVEX_HEIGHT_FIELD,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
bodyIndex = narrowphaseAndSolver->registerRigidBody(collidableIndex,mass,position,orientation,&aabbMin.getX(),&aabbMax.getX(),writeToGpu);
}
if (mass>0.f)
m_numDynamicPhysicsInstances++;
m_numPhysicsInstances++;
return bodyIndex;
}
void btRayShape::getAabb(const btTransform &t, btVector3 &aabbMin, btVector3 &aabbMax) const {
#define MARGIN_BROADPHASE 0.1
btVector3 localAabbMin(0, 0, 0);
btVector3 localAabbMax(m_shapeAxis * m_length);
btTransformAabb(localAabbMin, localAabbMax, MARGIN_BROADPHASE, t, aabbMin, aabbMax);
}
