Code:

void PhysicsMgr::BuildCollisionMesh(World *theWorld){Node *root = theWorld->GetRootNode(); // start at the root Node *node = root; while (node) { // Step 1: Check  to make sure that this is a static geometry objectif(node->GetNodeType() == kNodeGeometry && !node->GetController()) { btCollisionShape*collision=new btConvexHullShape(NULL,0,0); Geometry *geometry = static_cast<Geometry *>(node); const GeometryLevel *level = geometry->GetObject()->GetGeometryLevel(0); long vertexCount = level->GetVertexCount(); Point3D *vertex = level->GetArrayPoint3D(kArrayVertex); const GeometryObject *object = geometry->GetObject(); GeometrySpace space = object->GetGeometrySpace(); // Step 2: Convert vertex coordinates if necassary and // put each vertex into the btCollisionShapeif (space == kGeometrySpaceWorld) { const Transform4D& transform = geometry->GetInverseWorldTransform(); const Transform4D& invTransform = geometry->GetWorldTransform();for (long i = 0; i < vertexCount; i++){ // transform to object spacevertex[i] = transform * vertex[i]; // add to collision shapestatic_cast<btConvexHullShape*>(collision)->addPoint(btVector3(vertex[i].x,vertex[i].y,vertex[i].z));// return to world spacevertex[i] = invTransform * vertex[i];}}else{for (long i = 0; i < vertexCount; i++){ // no conversion necassary, just create the pointstatic_cast<btConvexHullShape*>(collision)->addPoint(btVector3(vertex[i].x,vertex[i].y,vertex[i].z));}}// Step 3: Calcualte the world transform and convert to btTransformconst Transform4D& transformC4World = node->GetWorldTransform();const Matrix3D& mat3= transformC4World.GetMatrix3D();btTransform shapeTransform;shapeTransform.setOrigin(btVector3(transformC4World.GetTranslation().x,transformC4World.GetTranslation().y,transformC4World.GetTranslation().z));shapeTransform.setBasis(btMatrix3x3(mat3.GetRow(0).x,mat3.GetRow(1).x,mat3.GetRow(2).x,mat3.GetRow(0).y,mat3.GetRow(1).y,mat3.GetRow(2).y,mat3.GetRow(0).z,mat3.GetRow(1).z,mat3.GetRow(2).z));// Step 4: use all of this to create rigid body and add to the world.btRigidBody* body = new btRigidBody(0.0f,shapeTransform,collision);m_dynamicsWorld->addRigidBody(body);delete collision;delete body;} node = root->GetNextNode(node); } }

Code:

voidbtCollisionWorld::addCollisionObject(btCollisionObject* collisionObject,short int collisionFilterGroup,short int collisionFilterMask){//check that the object isn't already addedstd::vector<btCollisionObject*>::iterator i =std::find(m_collisionObjects.begin(), m_collisionObjects.end(), collisionObject);assert(i == m_collisionObjects.end());