private void _injectShape(ChVector pos, ChMatrix33 <double> rot, CollisionShape mshape)
{
bool centered = true;// (pos.IsNull() && rot.IsIdentity()); // FIX THIS !!!
// This is needed so later one can access ChModelBullet::GetSafeMargin and ChModelBullet::GetEnvelope
mshape.SetUserPointer(this);
// start_vector = || -- description is still empty
if (shapes.Count == 0)
{
if (centered)
{
shapes.Add(mshape);
bt_collision_object.SetCollisionShape(mshape);
// end_vector= | centered shape |
return;
}
else
{
CompoundShape mcompound = new CompoundShape();
shapes.Add(mcompound);
shapes.Add(mshape);
bt_collision_object.SetCollisionShape(mcompound);
IndexedMatrix mtransform = new IndexedMatrix();
ChPosMatrToBullet(pos, rot, ref mtransform);
mcompound.AddChildShape(ref mtransform, mshape);
// vector= | compound | not centered shape |
return;
}
}
// start_vector = | centered shape | ----just a single centered shape was added
if (shapes.Count == 1)
{
IndexedMatrix mtransform = new IndexedMatrix();
shapes.Add(shapes[0]);
shapes.Add(mshape);
CompoundShape mcompound = new CompoundShape(true);
shapes[0] = mcompound;
bt_collision_object.SetCollisionShape(mcompound);
//mtransform.setIdentity();
mcompound.AddChildShape(ref mtransform, shapes[1]);
ChPosMatrToBullet(pos, rot, ref mtransform);
mcompound.AddChildShape(ref mtransform, shapes[2]);
// vector= | compound | old centered shape | new shape | ...
return;
}
// vector= | compound | old | old.. | ----already working with compounds..
if (shapes.Count > 1)
{
IndexedMatrix mtransform = new IndexedMatrix();
shapes.Add(mshape);
ChPosMatrToBullet(pos, rot, ref mtransform);
CollisionShape mcom = shapes[0];
((CompoundShape)mcom).AddChildShape(ref mtransform, mshape);
// vector= | compound | old | old.. | new shape | ...
return;
}
}