From 0e609cdac78fd04e0ad0054aee4d8c762c7423ca Mon Sep 17 00:00:00 2001
From: Anselme <anselme.francois@gmail.com>
Date: Sat, 10 Dec 2016 16:02:17 +0100
Subject: [PATCH] fixed setting rigidbody's matrix with opengl matrix

---
 src/scene/meshnode.cpp | 20 +++++++++++++-------
 src/scene/meshnode.h   |  7 +++++--
 src/test/main.cpp      |  2 +-
 3 files changed, 19 insertions(+), 10 deletions(-)

diff --git a/src/scene/meshnode.cpp b/src/scene/meshnode.cpp
index 5109d83..2ed74e6 100644
--- a/src/scene/meshnode.cpp
+++ b/src/scene/meshnode.cpp
@@ -17,12 +17,21 @@ void MeshNode::update()
     m_geometry.modelMatrix = m_movement * m_geometry.modelMatrix;
 
     if(m_transformChanged)
+    {
         m_geometry.modelMatrix = m_parentTransform * m_transform;
+        if(m_rigidBody != nullptr)
+        {
+            btTransform transform;
+            transform.setFromOpenGLMatrix(glm::value_ptr(m_geometry.modelMatrix));
+            m_rigidBody->setWorldTransform(transform);
+            m_rigidBody->setLinearVelocity(btVector3(0,0,0));
+        }
+    }
 }
 
 btRigidBody* MeshNode::buildStaticCollider()
 {
-    bulletMesh = new btIndexedMesh();
+    btIndexedMesh *bulletMesh = new btIndexedMesh();
     Mesh *m = m_geometry.mesh;
     // vertices
     bulletMesh->m_numVertices = m->positions3D.size();
@@ -40,10 +49,7 @@ btRigidBody* MeshNode::buildStaticCollider()
     collisionShape->addIndexedMesh(*bulletMesh, PHY_INTEGER);
     btBvhTriangleMeshShape *shape = new btBvhTriangleMeshShape(collisionShape, false);
 
-    // positionning
-    btTransform transform;
-    transform.getOpenGLMatrix(glm::value_ptr(m_geometry.modelMatrix));
-    btMotionState *motionState = new btDefaultMotionState(transform);
-
-    return new btRigidBody(0, motionState, shape);
+    btMotionState *motionState = new btDefaultMotionState();
+    m_rigidBody = new btRigidBody(0, motionState, shape);
+    return m_rigidBody;
 }
diff --git a/src/scene/meshnode.h b/src/scene/meshnode.h
index bb21532..413ef53 100644
--- a/src/scene/meshnode.h
+++ b/src/scene/meshnode.h
@@ -7,6 +7,7 @@
 
 class btRigidBody;
 class btIndexedMesh;
+class btRigidBody;
 
 /**
  * @brief The MeshNode class holds a mesh
@@ -15,14 +16,16 @@ class btIndexedMesh;
 class MeshNode : public GraphicalNode
 {
     GeometryNode m_geometry;
-    btIndexedMesh *bulletMesh;
+
+    // physics
+    btRigidBody *m_rigidBody;
 
 public:
     // temp
     glm::mat4 m_movement;
     glm::mat4 m_acceleration;
 
-    MeshNode(Mesh* mesh) : m_geometry(mesh, glm::mat4()), bulletMesh(nullptr) {}
+    MeshNode(Mesh* mesh) : m_geometry(mesh, glm::mat4()), m_rigidBody(nullptr) {}
 
     virtual void update();
 
diff --git a/src/test/main.cpp b/src/test/main.cpp
index ebec44c..4c04a55 100644
--- a/src/test/main.cpp
+++ b/src/test/main.cpp
@@ -144,7 +144,7 @@ void generateTerrain(SceneTree *scene, btDiscreteDynamicsWorld *world)
             MeshNode *node = new MeshNode(chunk->mesh);
             node->setTransform(glm::translate(glm::scale(glm::mat4(), glm::vec3(2.f)), pos*8.f));
             terrainContainer->addChild(node);
-            //world->addRigidBody(node->buildStaticCollider());
+            world->addRigidBody(node->buildStaticCollider());
         }
     }
 }