Jump to content
  • Advertisement
Sign in to follow this  
lucky6969b

[Bullet] btBvhTriangleMeshShape AABB problem

Recommended Posts

In the code snippet below, the static mesh I am adding to the engine always falls below zero. If the transform is at y zero, why would the bounding volume has a negative y value in it?

Thanks

Jack

	//////////////////////////////
/// AddStaticMesh
void PhysicsMover::addStaticMesh(LPD3DXMESH pMesh)
{
    btBvhTriangleMeshShape* staticShape = NULL;
	    Transform* l_transform = m_simObject->FindComponentByType<Transform>();
	    DWORD numFaces = pMesh->GetNumFaces();
    DWORD numIndices = numFaces * 3;
	    if (numIndices < 65535)
    {
        typedef unsigned short IndexFormat;
    
        btTriangleIndexVertexArray*
            indexVertexArrays = new btTriangleIndexVertexArray();
	        LPDIRECT3DVERTEXBUFFER9 pVertices;
        pMesh->GetVertexBuffer(&pVertices);
        DWORD dwVertexSize = pMesh->GetNumBytesPerVertex();
        DWORD dwNumVerts = pMesh->GetNumVertices();
        BYTE* pVertexData;
        pVertices->Lock(0, 0, (void**)&pVertexData, 0);
	        LPDIRECT3DINDEXBUFFER9 pIndices;
        pMesh->GetIndexBuffer(&pIndices);
        BYTE* pIndexData;
        pIndices->Lock(0, 0, (void**)&pIndexData, 0);
	        btIndexedMesh iMesh;
        iMesh.m_numTriangles        = pMesh->GetNumFaces();
        iMesh.m_triangleIndexBase   = (const unsigned char *)pIndexData;
        iMesh.m_triangleIndexStride = 3 * sizeof(IndexFormat);
        iMesh.m_numVertices         = dwNumVerts;
        iMesh.m_vertexBase          = (const unsigned char *)pVertexData;
        iMesh.m_vertexStride        = sizeof(D3DXVECTOR3);
        indexVertexArrays->addIndexedMesh( iMesh, PHY_SHORT );
	        // For non-moving objects only
        staticShape = new btBvhTriangleMeshShape(indexVertexArrays, true);
    
        m_collisionShapes.push_back(staticShape);
 
        pIndices->Unlock();
        pVertices->Unlock();
    }
    else
    {
        typedef DWORD IndexFormat;
    
        btTriangleIndexVertexArray*
            indexVertexArrays = new btTriangleIndexVertexArray();
	        LPDIRECT3DVERTEXBUFFER9 pVertices;
        pMesh->GetVertexBuffer(&pVertices);
        DWORD dwVertexSize = pMesh->GetNumBytesPerVertex();
        DWORD dwNumVerts = pMesh->GetNumVertices();
        BYTE* pVertexData;
        pVertices->Lock(0, 0, (void**)&pVertexData, 0);
	        LPDIRECT3DINDEXBUFFER9 pIndices;
        pMesh->GetIndexBuffer(&pIndices);
        BYTE* pIndexData;
        pIndices->Lock(0, 0, (void**)&pIndexData, 0);
	        indexVertexArrays =
            new btTriangleIndexVertexArray(pMesh->GetNumFaces(),
            (int*)pIndexData, 3 * sizeof(int), pMesh->GetNumVertices(),
            (btScalar*)pVertexData, dwVertexSize);
	        // For non-moving objects only
        staticShape = new btBvhTriangleMeshShape(indexVertexArrays, true);
    
        m_collisionShapes.push_back(staticShape);
 
        pIndices->Unlock();
        pVertices->Unlock();
    }
    
    // collision shapes are attached to transforms and not coupled to meshes themselves
	    btTransform startTransform;
    startTransform.setIdentity();
    D3DXVECTOR3 ori = l_transform->getPosition();
    if (m_simObject->m_name=="Warehouse3")
    {
        startTransform.setOrigin(btVector3(ori.x,
            ori.y, ori.z));
    }
    else
    {
        //startTransform.setOrigin(btVector3(ori.x,
        //    0, ori.z));
	        // the floor of the warehouse1 has fallen by 0.17 meters
        startTransform.setOrigin(btVector3(ori.x,
            ori.y, ori.z));
    }
	AgentMotionState* myMotionState = new AgentMotionState(m_simObject);
    myMotionState->setWorldTransform(startTransform);
	btRigidBody::btRigidBodyConstructionInfo cInfo(0, myMotionState, staticShape);
    btRigidBody* body = new btRigidBody(cInfo);
    body->setContactProcessingThreshold(m_defaultContactProcessingThreshold);
	btVector3 bmin, bmax;
    staticShape->getAabb(startTransform, bmin, bmax);
	m_dynamicsWorld->addRigidBody(body);
    
}
	
Edited by lucky6969b

Share this post


Link to post
Share on other sites
Advertisement

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account

Sign up for a new account in our community. It's easy!

Register a new account

Sign in

Already have an account? Sign in here.

Sign In Now
Sign in to follow this  

  • Advertisement
×

Important Information

By using GameDev.net, you agree to our community Guidelines, Terms of Use, and Privacy Policy.

Participate in the game development conversation and more when you create an account on GameDev.net!

Sign me up!