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

/***************************************************************************

This source file is part of OGREBULLET
(Object-oriented Graphics Rendering Engine Bullet Wrapper)
For the latest info, see http://www.ogre3d.org/phpBB2addons/viewforum.php?f=10

Copyright (c) 2007 tuan.kuranes@gmail.com (Use it Freely, even Statically, but have to contribute any changes)



This program is free software; you can redistribute it and/or modify it under
the terms of the GPL General Public License with runtime exception as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.

This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GPL General Public License with runtime exception for more details.

You should have received a copy of the GPL General Public License with runtime exception along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA, or go to
http://www.gnu.org/licenses/old-licenses/gpl-2.0.html
-----------------------------------------------------------------------------
*/

#include "OgreBulletCollisions.h"
#include "Utils/OgreBulletConverter.h"

#include "Shapes/OgreBulletCollisionsCompoundShape.h"

using namespace Ogre;
using namespace OgreBulletCollisions;

namespace OgreBulletCollisions
{
    // -------------------------------------------------------------------------
    CompoundCollisionShape::CompoundCollisionShape():   
        CollisionShape()
    {
            mShape = new btCompoundShape();
    }
    // -------------------------------------------------------------------------
    CompoundCollisionShape::~CompoundCollisionShape()
    {
    }
    // -------------------------------------------------------------------------
    void CompoundCollisionShape::addChildShape(CollisionShape *shape, const Vector3 &pos, const Quaternion &quat)
    {
        btTransform localTrans;
        
        //localTrans.setIdentity();
        //localTrans effectively shifts the center of mass with respect to the chassis
        localTrans.setOrigin (OgreBtConverter::to(pos));
        localTrans.setRotation (OgreBtConverter::to(quat));

        static_cast <btCompoundShape *> (mShape)->addChildShape(localTrans, shape->getBulletShape());
        
        mShapes.push_back (shape);
    }
    // -------------------------------------------------------------------------
    bool CompoundCollisionShape::drawWireFrame(DebugLines *wire, 
        const Ogre::Vector3 &pos, 
        const Ogre::Quaternion &quat) const
    {
        bool isVisual = false;
        btCompoundShape * const myBtCompoundShape = static_cast <btCompoundShape *> (mShape);
        int numChildShapes = myBtCompoundShape->getNumChildShapes ();

        int i;
        for (std::vector<CollisionShape *>::const_iterator itShape = mShapes.begin(); 
            itShape != mShapes.end(); ++itShape)
        {
            const btCollisionShape * const shape = (*itShape)->getBulletShape();
            for (i = 0; i < numChildShapes; i++)
            {
                if (myBtCompoundShape->getChildShape (i) == shape)
                    break;
            }
            assert (i < numChildShapes);

            const btTransform &localTrans = myBtCompoundShape->getChildTransform (i);

            const Vector3 pos (BtOgreConverter::to(localTrans.getOrigin ()));
            const Quaternion quat( BtOgreConverter::to(localTrans.getRotation ()));

            if ((*itShape)->drawWireFrame(wire, pos, quat))
                isVisual = true;
        }
        return isVisual;
    }
}