void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
//sort the collision objects based on collision shape, the gfx library requires instances that re-use a shape to be added after eachother
btAlignedObjectArray<btCollisionObject*> sortedObjects;
sortedObjects.reserve(rbWorld->getNumCollisionObjects());
for (int i=0; i<rbWorld->getNumCollisionObjects(); i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
sortedObjects.push_back(colObj);
}
sortedObjects.quickSort(shapePointerCompareFunc);
for (int i=0; i<sortedObjects.size(); i++)
{
btCollisionObject* colObj = sortedObjects[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
btVector3 color= sColors[colorIndex];
createCollisionObjectGraphicsObject(colObj,color);
}
}
virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld)
{
for (int i=0;i<rbWorld->getNumCollisionObjects();i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
//btRigidBody* body = btRigidBody::upcast(colObj);
//does this also work for btMultiBody/btMultiBodyLinkCollider?
createCollisionShapeGraphicsObject(colObj->getCollisionShape());
int colorIndex = colObj->getBroadphaseHandle()->getUid() & 3;
btVector3 color= sMyColors[colorIndex];
createCollisionObjectGraphicsObject(colObj,color);
}
}
virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);
}
void OpenGLGuiHelper::createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
{
createCollisionObjectGraphicsObject(body,color);
}
