Real-Time Physics Simulation Forum

Code: Select all

btRigidBody *addPhysicsMesh(float mass)
	{
		btTriangleMesh *mesh = new btTriangleMesh();

		for (int i = 0; i < m_model->faces; ++i)
		{
			GLuint index0 = 3 * m_model->indices[i];
			GLuint index1 = 3 * m_model->indices[i + 1];
			GLuint index2 = 3 * m_model->indices[i + 2];

			GLfloat *pos0 = m_model->verts[index0];
			GLfloat *pos1 = m_model->verts[index1];
			GLfloat *pos2 = m_model->verts[index2];

			btVector3 v0(pos0[0], pos0[1], pos0[2]);
			btVector3 v1(pos1[0], pos1[1], pos1[2]);
			btVector3 v2(pos2[0], pos2[1], pos2[2]);

			mesh->addTriangle(v0, v1, v2);
		}

		btCollisionShape *shape = new btBvhTriangleMeshShape(mesh, true);

		btTransform t;
		t.setIdentity();
		t.setOrigin(btVector3(m_positionXYZ.x, m_positionXYZ.y, m_positionXYZ.z));

		btDefaultMotionState *motion = new btDefaultMotionState(t);

		btVector3 inertia(0.0f, 0.0f, 0.0f);

		if (mass != 0.0f)
			shape->calculateLocalInertia(mass, inertia);

		btRigidBody::btRigidBodyConstructionInfo info(mass, motion, shape, inertia);
		btRigidBody *body = new btRigidBody(info);
		
		return body;
	}

	void renderPhysicsMesh(btRigidBody *mesh, ShaderProgram shader)
	{
		if (mesh->getCollisionShape()->getShapeType() != TRIANGLE_MESH_SHAPE_PROXYTYPE)
			return;

		btTransform t;

		mesh->getMotionState()->getWorldTransform(t);

		float mat[16];
		t.getOpenGLMatrix(mat);

		glPushMatrix();

		glMultMatrixf(mat);

		m_model->Draw(shader);

		glPopMatrix();
	}

Code: Select all

if (k < gameObjects.size())
	{
		body = gameObjects[k]->addPhysicsMesh(0.0f);

		world->addRigidBody(body);
		rigidbodies.push_back(body);

		body->setUserPointer((void*)k);

		k++;
	}