investigating in bullet ccd, add correspond sample, some library imporve

BlenderWork/cameras/Camera

@@ -1,5 +1,5 @@
-type Camera
-name Camera
-pos -7.481132 5.343665 -6.507640
-see -6.826270 4.898420 -5.896974
-end
+type Camera
+name Camera
+pos -12.485068 4.323415 -24.932487
+see -11.830207 3.878170 -24.321821
+end

src/3D/SEMesh.cpp

@@ -188,4 +188,37 @@ void SEMesh::GetTriangleMesh( btTriangleMeshPtr triangleMesh )
 
 		++start;
 	}
+}
+
+btBoxShapePtr SEMesh::GetBoxShape( )
+{
+	float minX = FLT_MAX, maxX = FLT_MIN;
+	float minY = FLT_MAX, maxY = FLT_MIN;
+	float minZ = FLT_MAX, maxZ = FLT_MIN;
+
+	float* vertexArray = mVertexArray.get();
+	for( int i=0; i<mVertexArraySize; i+=3 )
+	{
+		if( minX > vertexArray[i] ) minX = vertexArray[i];
+		if( maxX < vertexArray[i] ) maxX = vertexArray[i];
+
+		if( minY > vertexArray[i+1] ) minY = vertexArray[i+1];
+		if( maxY < vertexArray[i+1] ) maxY = vertexArray[i+1];
+
+		if( minZ > vertexArray[i+2] ) minZ = vertexArray[i+2];
+		if( maxZ < vertexArray[i+2] ) maxZ = vertexArray[i+2];
+	}
+
+	btVector3 vec =  btVector3( (maxX - minX)/2.0f,
+								(maxY - minY)/2.0f,
+								(maxZ - minZ)/2.0f );
+
+	/*if( vec.x() < 0.1 ) 
+		vec.setX(0.1f);
+	if( vec.y() < 0.1 )
+		vec.setY(0.1f);
+	if( vec.z() < 0.1 ) 
+		vec.setZ(0.1f);*/
+
+	return btBoxShapePtr( SENewObject<btBoxShape>( vec ) );
 }

src/3D/SEMesh.h

@@ -21,7 +21,7 @@ typedef shared_array<float> SEUVNativeArrayPtr;
 
 typedef shared_ptr<btTriangleMesh> btTriangleMeshPtr;
 typedef shared_ptr<btConvexHullShape> btConvexHullShapePtr;
-
+typedef shared_ptr<btBoxShape> btBoxShapePtr;
 
 class SEMesh: public SESceneLoaderDelegate
 {
@@ -32,7 +32,7 @@ class SEMesh: public SESceneLoaderDelegate
 	SENormalNativeArrayPtr	mNormalArray;
 	SEUVNativeArrayPtr		mUVArray;
 
-	SEVertexGroupArray mVertexGroupArray;
+	SEVertexGroupArray		mVertexGroupArray;
 
 public:
 	SEMesh(void);
@@ -56,6 +56,7 @@ class SEMesh: public SESceneLoaderDelegate
 
 	void GetTriangleMesh( btTriangleMeshPtr trianlgeShape );
 	void GetConvexHullShape(  );
+	btBoxShapePtr GetBoxShape( );
 };
 
 #endif SEMesh_H

src/Objects/SEPhysicObject.cpp

@@ -54,4 +54,9 @@ void SEPhysicObject::Draw()
 btRigidBodyPtr SEPhysicObject::rigidBody()
 {
 	return mRigidBody;
+}
+
+const SEString& SEPhysicObject::name()
+{
+	return mMesh->name();
 }

src/Objects/SEPhysicObject.h

@@ -44,6 +44,7 @@ class SEPhysicObject: public SEObjectInterface
 	virtual void Draw();
 	btRigidBodyPtr  rigidBody();
 	SEMeshPtr		mesh();
+	const SEString& name();
 };
 
 

src/Objects/SEPhysicWorld.cpp

@@ -35,6 +35,17 @@ void SEPhysicWorld::InitDiscreteDynamicsWorld( btDispatcherPtr dispatcher, btBro
 	mWorld = btDynamicsWorldPtr( SENewObject<btDiscreteDynamicsWorld>( mDispatcher.get(), mBroadphaseInterface.get(), mConstraintSolver.get(), mCollisionConfiguration.get() ) );
 }
 
+void SEPhysicWorld::InitContinuousDynamicsWorld( btDispatcherPtr dispatcher, btBroadphaseInterfacePtr broadphaseInterface, btConstraintSolverPtr constraintSolver, btCollisionConfigurationPtr collisionConfiguration )
+{
+	mCollisionConfiguration = collisionConfiguration;
+	mBroadphaseInterface	= broadphaseInterface;
+	mDispatcher				= dispatcher;
+	mConstraintSolver		= constraintSolver;
+
+	mWorld = btDynamicsWorldPtr( SENewObject<btContinuousDynamicsWorld>( mDispatcher.get(), mBroadphaseInterface.get(), mConstraintSolver.get(), mCollisionConfiguration.get() ) );
+
+}
+
 btDynamicsWorldPtr SEPhysicWorld::world()
 {
 	return mWorld;
@@ -67,4 +78,21 @@ void SEPhysicWorld::RemoveObjects()
 	}
 
 	mPhysicObjectArray.clear();
+}
+
+SEPhysicObjectPtr SEPhysicWorld::GetObject(const char* name)
+{
+	SEPhysicObjectArray::iterator start = mPhysicObjectArray.begin();
+	SEPhysicObjectArray::iterator end = mPhysicObjectArray.end();
+
+	while(start != end)
+	{
+		if( (*start)->name() == name )
+			return *start;
+
+		++start;
+	}
+
+	SEAssert(false, "Physic object not found");
+	return SEPhysicObjectPtr();
 }

src/Objects/SEPhysicWorld.h

@@ -35,13 +35,15 @@ class SEPhysicWorld
 
 	static SEPhysicWorldPtr sharedInstance();
 	void InitDiscreteDynamicsWorld( btDispatcherPtr dispatcher, btBroadphaseInterfacePtr broadphaseInterface, btConstraintSolverPtr constraintSolver, btCollisionConfigurationPtr collisionConfiguration );
+	void InitContinuousDynamicsWorld( btDispatcherPtr dispatcher, btBroadphaseInterfacePtr broadphaseInterface, btConstraintSolverPtr constraintSolver, btCollisionConfigurationPtr collisionConfiguration );
 
 	btDynamicsWorldPtr world();
 
 	void Draw();
 
 	void AddObject( SEPhysicObjectPtr object);
 	void RemoveObjects();
+	SEPhysicObjectPtr GetObject(const char* name);
 };