private CollisionShape rotate(CollisionShape shape, Quat4f rot) {
if (shape instanceof BoxShape) {
BoxShape box = (BoxShape) shape;
javax.vecmath.Vector3f extents = box.getHalfExtentsWithMargin(new javax.vecmath.Vector3f());
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(VecMath.to(rot), extents, extents);
extents.absolute();
return new BoxShape(extents);
} else if (shape instanceof CompoundShape) {
CompoundShape compound = (CompoundShape) shape;
CompoundShape newShape = new CompoundShape();
for (CompoundShapeChild child : compound.getChildList()) {
CollisionShape rotatedChild = rotate(child.childShape, rot);
javax.vecmath.Vector3f offset =
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(
VecMath.to(rot), child.transform.origin, new javax.vecmath.Vector3f());
newShape.addChildShape(
new Transform(
new javax.vecmath.Matrix4f(VecMath.to(Rotation.none().getQuat4f()), offset, 1.0f)),
rotatedChild);
}
return newShape;
} else if (shape instanceof ConvexHullShape) {
ConvexHullShape convexHull = (ConvexHullShape) shape;
ObjectArrayList<javax.vecmath.Vector3f> transformedVerts = new ObjectArrayList<>();
for (javax.vecmath.Vector3f vert : convexHull.getPoints()) {
transformedVerts.add(
com.bulletphysics.linearmath.QuaternionUtil.quatRotate(
VecMath.to(rot), vert, new javax.vecmath.Vector3f()));
}
return new ConvexHullShape(transformedVerts);
}
return shape;
}
public void parent(GameObject p, boolean compound) {
CompoundShape compShapeOld = null;
if (parent != null) {
parent.children.remove(this);
if (compound) {
compShapeOld = parent.compoundShape();
if (compShapeOld != null) {
scene.world.removeRigidBody(parent.body);
compShapeOld.removeChildShape(body.getCollisionShape());
scene.world.addRigidBody(parent.body);
}
}
} else if (p == null) {
return;
}
parent = p;
if (parent != null) {
parent.children.add(this);
updateLocalTransform();
updateLocalScale();
if (compound) {
CompoundShape compShape = parent.compoundShape();
if (compShape != null) {
scene.world.removeRigidBody(body);
compShape.addChildShape(new Transform(localTransform), body.getCollisionShape());
}
} else {
dynamics(false);
}
} else if (currBodyType.equals("STATIC") || currBodyType.equals("SENSOR")) {
if (compound && compShapeOld != null) scene.world.addRigidBody(body);
} else {
dynamics(true);
}
}