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virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));

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int maxSubSteps = int(largestExpectedFrameTime / fixed_time_step) + 1;

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tau = approximate_time_for_object_to_reach_target_position / 3.0;offset = target_position - current_position;if (offset.length < CLOSE_ENOUGH) {    target_velocity = zero;} else {    target_velocity = offset * (1.0 / tau);}delta_velocity = target_velocity - current_velocity;if (delta_velocity.length > MIN_DELTA_SPEED) {    blend_coefficient = substep / tau; // DANGER: this ratio should never be larger than about 0.9    new_velocity = current_velocity + blend_coefficient * delta_velocity;    body->setLinearVelocity(new_velocity);}

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class SceneNodeMotionState : public btMotionState {SceneNode* _SceneNode;btScalar* M;public:SceneNodeMotionState(SceneNode* Node): _SceneNode(Node){}//This function is called when the physical representation of this object is created//Haven't seen it called anytime except for during object creation thus far..void getWorldTransform(btTransform& worldTrans) const{//printf("getWorldTransform\n");}//This function is called whenever this object PHYSICALLY moves//Update a scenenode's VISUAL representation here based off its physical representation.void setWorldTransform(const btTransform& worldTrans){M = new btScalar[16];worldTrans.getOpenGLMatrix(M);_SceneNode->_Model.transform.m0 = M[0];_SceneNode->_Model.transform.m1 = M[1];_SceneNode->_Model.transform.m2 = M[2];_SceneNode->_Model.transform.m3 = M[3];_SceneNode->_Model.transform.m4 = M[4];_SceneNode->_Model.transform.m5 = M[5];_SceneNode->_Model.transform.m6 = M[6];_SceneNode->_Model.transform.m7 = M[7];_SceneNode->_Model.transform.m8 = M[8];_SceneNode->_Model.transform.m9 = M[9];_SceneNode->_Model.transform.m10 = M[10];_SceneNode->_Model.transform.m11 = M[11];_SceneNode->_Model.transform.m12 = M[12];_SceneNode->_Model.transform.m13 = M[13];_SceneNode->_Model.transform.m14 = M[14];_SceneNode->_Model.transform.m15 = M[15];}

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    ///if maxSubSteps > 0, it will interpolate motion between fixedTimeStep's    virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));

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dynamicsWorld->stepSimulation(timeStep, 10);

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#pragma once#include <VHACD.h>////Structure containing objects created during compositionstruct DecompResults {btCompoundShape* CompoundShape = nullptr;btAlignedObjectArray<btConvexShape*> m_convexShapes = {};btAlignedObjectArray<btTriangleMesh*> m_trimeshes = {};};////FBXObject contains vectors of Vertices and IndicesDecompResults* Decomp(Mesh RayMesh) {////Setup Indicesconst uint32_t nTriangles = RayMesh.triangleCount;printf("\tINDICE SIZE %i\n", (int)sizeof(RayMesh.indices));printf("Decomp: NumTris %i\n", nTriangles);std::vector<uint32_t> Triangles;for (uint32_t i = 0; i < nTriangles*3; i++) {Triangles.push_back(RayMesh.indices[i]);}////Setup Points (3 Points is 1 Vertex)const uint32_t nPoints = RayMesh.vertexCount;printf("Decomp: NumPoints %i\n", nPoints);std::vector<float> Points;for (uint32_t i = 0; i < nPoints; i++) {Points.push_back(RayMesh.vertices[i*3]);Points.push_back(RayMesh.vertices[i * 3 + 1]);Points.push_back(RayMesh.vertices[i * 3 + 2]);}////Setup VHACD Parameters and create its interfaceVHACD::IVHACD::Parameters params;VHACD::IVHACD* interfaceVHACD = VHACD::CreateVHACD();VHACD::IVHACD::ConvexHull Hull;////Compute approximate convex decomposition//printf("Compute V-HACD: Points %i Triangles %i\n", Points.size(), Triangles.size());bool res = interfaceVHACD->Compute(Points.data(), (uint32_t)(Points.size() / 3),Triangles.data(), (uint32_t)(Triangles.size() / 3), params);////Get the number of convex hullsunsigned int nConvexHulls = interfaceVHACD->GetNConvexHulls();//printf("V-HACD Done: Hull Count %i\n", nConvexHulls);////Create a new DecompResults structureDecompResults* Results = new DecompResults;////Create a new Compound Shape for this decompositionResults->CompoundShape = new btCompoundShape();////Iterate through each convex hull and fill resultsfor (unsigned int h = 0; h < nConvexHulls; ++h){//printf("\tHull: %i\n", h);//printf("\t\tPoints: %i\n", Hull.m_points);//printf("\t\tTriangles: %i\n", Hull.m_triangles);//printf("\t\tVertices: %i\n", vertices.size());////Fill 'Hull' for each individual convex hullinterfaceVHACD->GetConvexHull(h, Hull);////Create a new Triangle Mesh for this hullbtTriangleMesh* trimesh = new btTriangleMesh();Results->m_trimeshes.push_back(trimesh);////Grab the hulls center positionconst btVector3 centroid(Hull.m_center[0], Hull.m_center[1], Hull.m_center[2]);//printf("Hull Center %f %f %f\n", Hull.m_center[0], Hull.m_center[1], Hull.m_center[2]);////Iterate through this hulls trianglesfor (unsigned int i = 0; i < Hull.m_nTriangles; i++) {////Calculate indicesconst unsigned int index0 = Hull.m_triangles[i * 3];const unsigned int index1 = Hull.m_triangles[i * 3 + 1];const unsigned int index2 = Hull.m_triangles[i * 3 + 2];////Calculate verticesconst btVector3 vertex0(Hull.m_points[index0 * 3], Hull.m_points[index0 * 3 + 1], Hull.m_points[index0 * 3 + 2]);const btVector3 vertex1(Hull.m_points[index1 * 3], Hull.m_points[index1 * 3 + 1], Hull.m_points[index1 * 3 + 2]);const btVector3 vertex2(Hull.m_points[index2 * 3], Hull.m_points[index2 * 3 + 1], Hull.m_points[index2 * 3 + 2]);////Add this triangle into our Triangle Meshtrimesh->addTriangle(vertex0 - centroid, vertex1 - centroid, vertex2 - centroid);}////Create a new ConvexShape from this hulls Triangle MeshbtConvexShape* convexShape = new btConvexTriangleMeshShape(trimesh);Results->m_convexShapes.push_back(convexShape);////Create a transform using centroid as originbtTransform trans;trans.setIdentity();trans.setOrigin(centroid);////Add this ConvexShape to our CompoundShapeResults->CompoundShape->addChildShape(trans, convexShape);}//// release memoryinterfaceVHACD->Clean();interfaceVHACD->Release();////Return our DecompResults containing the CompoundShape full of Convexically Decomposed Convex Shapesreturn Results;}

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void InitPhysics(Physics* Phys){Phy = Phys;////Check if we already have a cached btCollisionShape for this fileif (Phys->_CollisionShapes.count(_FileName)){_CollisionShape = Phys->_CollisionShapes[_FileName];}////Otherwise create one and cache it awayelse {printf("\tCreate New ENTITY CollisionShape\n");DecompResults* Results = Decomp(_Model.meshes[0]);_CollisionShape = Results->CompoundShape;for (int i = 0; i < Results->m_convexShapes.size(); i++) {Phys->_ConvexShapes.push_back(Results->m_convexShapes[i]);}for (int i = 0; i < Results->m_trimeshes.size(); i++) {Phys->_TriangleMeshes.push_back(Results->m_trimeshes[i]);}delete Results;Phys->_CollisionShapes[_FileName] = _CollisionShape;}_CollisionShape->setUserPointer(this);DefaultMass = 10.0f;Mass = DefaultMass;bool isDynamic = (Mass != 0.f);if (isDynamic) {_CollisionShape->calculateLocalInertia(Mass, localInertia);}SceneNodeMotionState* MotionState = new SceneNodeMotionState(this);btRigidBody::btRigidBodyConstructionInfo rbInfo(Mass, MotionState, _CollisionShape, localInertia);_RigidBody = new btRigidBody(rbInfo);_RigidBody->setUserPointer(this);Phys->dynamicsWorld->addRigidBody(_RigidBody);}