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source: code/branches/physics/src/ogrebullet/Collisions/Shapes/OgreBulletCollisionsCompoundShape.cpp @ 1988

Last change on this file since 1988 was 1985, checked in by rgrieder, 16 years ago

Split up OgreBullet into Collisions and Dynamics as it was intended by the developers.

  • Property svn:eol-style set to native
File size: 3.7 KB
Line 
1/***************************************************************************
2
3This source file is part of OGREBULLET
4(Object-oriented Graphics Rendering Engine Bullet Wrapper)
5For the latest info, see http://www.ogre3d.org/phpBB2addons/viewforum.php?f=10
6
7Copyright (c) 2007 tuan.kuranes@gmail.com (Use it Freely, even Statically, but have to contribute any changes)
8
9
10
11This program is free software; you can redistribute it and/or modify it under
12the terms of the GPL General Public License with runtime exception as published by the Free Software
13Foundation; either version 2 of the License, or (at your option) any later
14version.
15
16This program is distributed in the hope that it will be useful, but WITHOUT
17ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18FOR A PARTICULAR PURPOSE. See the GPL General Public License with runtime exception for more details.
19
20You should have received a copy of the GPL General Public License with runtime exception along with
21this program; if not, write to the Free Software Foundation, Inc., 59 Temple
22Place - Suite 330, Boston, MA 02111-1307, USA, or go to
23http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
24-----------------------------------------------------------------------------
25*/
26
27#include "OgreBulletCollisions.h"
28#include "Utils/OgreBulletConverter.h"
29
30#include "Shapes/OgreBulletCollisionsCompoundShape.h"
31
32using namespace Ogre;
33using namespace OgreBulletCollisions;
34
35namespace OgreBulletCollisions
36{
37    // -------------------------------------------------------------------------
38    CompoundCollisionShape::CompoundCollisionShape():   
39        CollisionShape()
40    {
41            mShape = new btCompoundShape();
42    }
43    // -------------------------------------------------------------------------
44    CompoundCollisionShape::~CompoundCollisionShape()
45    {
46    }
47    // -------------------------------------------------------------------------
48    void CompoundCollisionShape::addChildShape(CollisionShape *shape, const Vector3 &pos, const Quaternion &quat)
49    {
50        btTransform localTrans;
51       
52        //localTrans.setIdentity();
53        //localTrans effectively shifts the center of mass with respect to the chassis
54        localTrans.setOrigin (OgreBtConverter::to(pos));
55        localTrans.setRotation (OgreBtConverter::to(quat));
56
57        static_cast <btCompoundShape *> (mShape)->addChildShape(localTrans, shape->getBulletShape());
58       
59        mShapes.push_back (shape);
60    }
61    // -------------------------------------------------------------------------
62    bool CompoundCollisionShape::drawWireFrame(DebugLines *wire, 
63        const Ogre::Vector3 &pos, 
64        const Ogre::Quaternion &quat) const
65    {
66        bool isVisual = false;
67        btCompoundShape * const myBtCompoundShape = static_cast <btCompoundShape *> (mShape);
68        int numChildShapes = myBtCompoundShape->getNumChildShapes ();
69
70        int i;
71        for (std::vector<CollisionShape *>::const_iterator itShape = mShapes.begin(); 
72            itShape != mShapes.end(); ++itShape)
73        {
74            const btCollisionShape * const shape = (*itShape)->getBulletShape();
75            for (i = 0; i < numChildShapes; i++)
76            {
77                if (myBtCompoundShape->getChildShape (i) == shape)
78                    break;
79            }
80            assert (i < numChildShapes);
81
82            const btTransform &localTrans = myBtCompoundShape->getChildTransform (i);
83
84            const Vector3 pos (BtOgreConverter::to(localTrans.getOrigin ()));
85            const Quaternion quat( BtOgreConverter::to(localTrans.getRotation ()));
86
87            if ((*itShape)->drawWireFrame(wire, pos, quat))
88                isVisual = true;
89        }
90        return isVisual;
91    }
92}
93
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