Sceneimporter

// REMOVED IRRELEVANT CODE FOR READABILITY


   btConvexHullShape * SceneImporter::buildCollisionShape(glm::vec3 scale, std::vector<Vertex> vertices,
                                                          std::vector<GLuint> indices) {

        btConvexHullShape *originalCollisionShape = new btConvexHullShape();


        glm::vec4 temp_pos;
        btVector3 current_position;
        btVector3 scaling(scale.x, scale.y, scale.z);

        bool updateLocalAabb = false;

        for(Vertex vertex : vertices) {
            current_position = btVector3(vertex.Position.x, vertex.Position.y, vertex.Position.z);

            current_position *= scaling;

            originalCollisionShape->addPoint(current_position, updateLocalAabb);
        }


        btShapeHull* hull = new btShapeHull(originalCollisionShape);
        btScalar margin = originalCollisionShape->getMargin();
        hull->buildHull(margin);

        btConvexHullShape* simplifiedConvexShape = new btConvexHullShape();

        for(int i = 0; i < hull->numVertices(); i++) {
            simplifiedConvexShape->addPoint(hull->getVertexPointer()[i], updateLocalAabb);
        }

        simplifiedConvexShape->recalcLocalAabb();

        simplifiedConvexShape->initializePolyhedralFeatures();


        delete originalCollisionShape;
        delete hull;


        return simplifiedConvexShape;

    }

}