From e48d3e2840b65b9db9e46d98b1196c5a2d8da4ed Mon Sep 17 00:00:00 2001
From: Joseph Walton-Rivers <joseph@walton-rivers.uk>
Date: Mon, 1 Aug 2022 15:05:52 +0100
Subject: [PATCH] add service-based physics
---
demo/data/rollball.yml | 4 +-
demo/demo/rollball.cpp | 20 +++-
demo/include/rollball.hpp | 3 +
fggl/entity/loader/loader.cpp | 7 +-
fggl/entity/module.cpp | 2 +
include/fggl/entity/entity.hpp | 7 ++
include/fggl/entity/loader/loader.hpp | 8 +-
include/fggl/entity/loader/spec.hpp | 1 +
include/fggl/phys/service.hpp | 37 +++++++
integrations/bullet/CMakeLists.txt | 1 +
.../include/fggl/phys/bullet/module.hpp | 5 +-
.../include/fggl/phys/bullet/motion.hpp | 12 +-
.../include/fggl/phys/bullet/service.hpp | 33 ++++++
.../bullet/include/fggl/phys/bullet/types.hpp | 2 +
integrations/bullet/src/module.cpp | 69 +-----------
integrations/bullet/src/service.cpp | 103 ++++++++++++++++++
integrations/bullet/src/simulation.cpp | 11 +-
17 files changed, 241 insertions(+), 84 deletions(-)
create mode 100644 include/fggl/phys/service.hpp
create mode 100644 integrations/bullet/include/fggl/phys/bullet/service.hpp
create mode 100644 integrations/bullet/src/service.cpp
diff --git a/demo/data/rollball.yml b/demo/data/rollball.yml
index df682f1..ea445d5 100644
--- a/demo/data/rollball.yml
+++ b/demo/data/rollball.yml
@@ -86,6 +86,4 @@ prefabs:
phys::Body:
type: kinematic
shape:
- type: box
- phys::Callbacks:
- phys::Cache:
\ No newline at end of file
+ type: box
\ No newline at end of file
diff --git a/demo/demo/rollball.cpp b/demo/demo/rollball.cpp
index 88cc926..d3661ca 100644
--- a/demo/demo/rollball.cpp
+++ b/demo/demo/rollball.cpp
@@ -120,14 +120,18 @@ namespace demo {
constexpr fggl::math::vec3 COLOUR_BLUE{0.0F, 0.0F, 1.0F};
constexpr float MOVE_FORCE{3.0F};
- RollBall::RollBall(fggl::App &app) : Game(app) {
+ RollBall::RollBall(fggl::App &app) : Game(app), m_phys(nullptr) {
}
void RollBall::activate() {
Game::activate();
-
fggl::debug::log(fggl::debug::Level::info, "RollBall::activate()");
+ // attach physics
+ auto* physService = m_owner.service<fggl::phys::PhysicsProvider>();
+ auto* entFactory = m_owner.service<fggl::entity::EntityFactory>();
+ m_phys = physService->create(&world(), entFactory);
+
auto* assetLoader = m_owner.service<fggl::assets::Loader>();
assetLoader->load("rollball.yml", fggl::entity::PROTOTYPE_ASSET);
@@ -150,6 +154,17 @@ namespace demo {
setup_environment(world(), m_owner.service<fggl::entity::EntityFactory>(), WORLD_SIZE, state);
}
+ void RollBall::deactivate() {
+ // we need to clean up physics
+ if ( m_phys != nullptr ) {
+ delete m_phys;
+ m_phys = nullptr;
+ }
+
+ // now let the rest of the scene do its bit
+ Game::deactivate();
+ }
+
fggl::math::vec3 calc_move_vector(const fggl::input::Input& input) {
constexpr fggl::math::vec3 forward = fggl::math::FORWARD;
constexpr fggl::math::vec3 right = fggl::math::RIGHT;
@@ -176,6 +191,7 @@ namespace demo {
void RollBall::update() {
Game::update();
+ m_phys->step();
const float deltaTime = 1 / 60.0F;
diff --git a/demo/include/rollball.hpp b/demo/include/rollball.hpp
index d18bb4b..1b39f03 100644
--- a/demo/include/rollball.hpp
+++ b/demo/include/rollball.hpp
@@ -26,6 +26,7 @@
#define DEMO_ROLLBALL_HPP
#include "fggl/scenes/game.hpp"
+#include "fggl/phys/service.hpp"
namespace demo {
@@ -54,6 +55,7 @@ namespace demo {
explicit RollBall(fggl::App& app);
void activate() override;
+ void deactivate() override;
void update() override;
void render(fggl::gfx::Graphics& gfx) override;
@@ -61,6 +63,7 @@ namespace demo {
private:
constexpr static fggl::math::vec3 HINT_COLOUR{0.5f, 0.0f, 0.0f};
RollState state;
+ fggl::phys::PhysicsEngine* m_phys;
fggl::math::vec3 cameraOffset = {-15.0F, 15.0F, 0.0F};
void closestPickup(fggl::entity::EntityManager& world);
diff --git a/fggl/entity/loader/loader.cpp b/fggl/entity/loader/loader.cpp
index 62750d2..fb29fa8 100644
--- a/fggl/entity/loader/loader.cpp
+++ b/fggl/entity/loader/loader.cpp
@@ -32,7 +32,7 @@ namespace fggl::entity {
auto name = prefab["name"].as<fggl::util::GUID>();
#ifndef NDEBUG
- debug::log(debug::Level::info, "found prefab: {}", fggl::util::guidToString(name) );
+ debug::info("found prefab: {}", fggl::util::guidToString(name) );
#endif
// setup the components
@@ -43,6 +43,11 @@ namespace fggl::entity {
ComponentSpec compSpec{};
compSpec.config = compEntry.second;
entity.components[compId] = compSpec;
+ entity.ordering.push_back(compId);
+
+ #ifndef NDEBUG
+ debug::trace("{} has component {}", fggl::util::guidToString(name), fggl::util::guidToString(compId));
+ #endif
}
factory->define( name, entity );
diff --git a/fggl/entity/module.cpp b/fggl/entity/module.cpp
index ee6b1c0..7efd1ec 100644
--- a/fggl/entity/module.cpp
+++ b/fggl/entity/module.cpp
@@ -26,6 +26,8 @@ namespace fggl::entity {
transform.origin( spec.get<math::vec3>( "origin", math::VEC3_ZERO ) );
transform.euler( spec.get<math::vec3>( "rotation", math::VEC3_ZERO ) );
transform.scale( spec.get<math::vec3>( "scale", math::VEC3_ONES ) );
+
+ debug::trace("created transform for entity {}", (uint64_t)entity);
}
void install_component_factories(entity::EntityFactory* factory) {
diff --git a/include/fggl/entity/entity.hpp b/include/fggl/entity/entity.hpp
index 05c3ba5..72d2d4a 100644
--- a/include/fggl/entity/entity.hpp
+++ b/include/fggl/entity/entity.hpp
@@ -20,6 +20,8 @@
#define FGGL_ENTITY_ENTITY_HPP
#include <cstdint>
+
+#include "fggl/debug/logging.hpp"
#include "fggl/vendor/entt.hpp"
namespace fggl::entity {
@@ -43,6 +45,11 @@ namespace fggl::entity {
template<typename Component>
Component& get(EntityID entity) {
+ #ifndef NDEBUG
+ if ( !has<Component>(entity) ) {
+ debug::error("Entity {} has no component of type {}", (uint64_t)entity, typeid(Component).name());
+ }
+ #endif
return m_registry.get<Component>(entity);
}
diff --git a/include/fggl/entity/loader/loader.hpp b/include/fggl/entity/loader/loader.hpp
index 8da4709..47381dd 100644
--- a/include/fggl/entity/loader/loader.hpp
+++ b/include/fggl/entity/loader/loader.hpp
@@ -47,17 +47,19 @@ namespace fggl::entity {
// invoke each component factory as required
auto entity = manager.create();
- for (auto &[name, data] : prototype.components) {
+ for ( auto& component : prototype.ordering ) {
try {
- m_factories.at(name)(data, manager, entity);
+ auto& data = prototype.components.at(component);
+ m_factories.at(component)(data, manager, entity);
} catch (std::out_of_range& ex) {
#ifndef NDEBUG
- debug::log(debug::Level::error, "EntityFactory: Unknown component factory type '{}'", fggl::util::guidToString(name));
+ debug::log(debug::Level::error, "EntityFactory: Unknown component factory type '{}'", fggl::util::guidToString(component));
#endif
manager.destroy(entity);
return fggl::entity::INVALID;
}
}
+
return entity;
} catch (std::out_of_range& ex) {
#ifndef NDEBUG
diff --git a/include/fggl/entity/loader/spec.hpp b/include/fggl/entity/loader/spec.hpp
index 4dd926c..c9ef555 100644
--- a/include/fggl/entity/loader/spec.hpp
+++ b/include/fggl/entity/loader/spec.hpp
@@ -46,6 +46,7 @@ namespace fggl::entity {
};
struct EntitySpec {
+ std::vector<util::GUID> ordering;
std::map<util::GUID, ComponentSpec> components;
};
diff --git a/include/fggl/phys/service.hpp b/include/fggl/phys/service.hpp
new file mode 100644
index 0000000..54b84f9
--- /dev/null
+++ b/include/fggl/phys/service.hpp
@@ -0,0 +1,37 @@
+/*
+ * This file is part of FGGL.
+ *
+ * FGGL is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ *
+ * FGGL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License along with FGGL.
+ * If not, see <https://www.gnu.org/licenses/>.
+ */
+
+//
+// Created by webpigeon on 01/08/22.
+//
+
+#ifndef FGGL_PHYS_SERVICE_HPP
+#define FGGL_PHYS_SERVICE_HPP
+
+#include "fggl/modules/module.hpp"
+#include "fggl/entity/module.hpp"
+#include "fggl/phys/types.hpp"
+
+namespace fggl::phys {
+
+ class PhysicsProvider {
+ public:
+ constexpr static const modules::ModuleService service = modules::make_service("fggl::phys::service");
+
+ virtual PhysicsEngine* create(entity::EntityManager* entityManager, entity::EntityFactory* factory) = 0;
+ };
+
+}
+
+#endif //FGGL_PHYS_SERVICE_HPP
diff --git a/integrations/bullet/CMakeLists.txt b/integrations/bullet/CMakeLists.txt
index f128ed8..28134aa 100644
--- a/integrations/bullet/CMakeLists.txt
+++ b/integrations/bullet/CMakeLists.txt
@@ -35,5 +35,6 @@ else()
src/module.cpp
src/simulation.cpp
src/phys_draw.cpp
+ src/service.cpp
)
endif()
diff --git a/integrations/bullet/include/fggl/phys/bullet/module.hpp b/integrations/bullet/include/fggl/phys/bullet/module.hpp
index 6950919..2f81006 100644
--- a/integrations/bullet/include/fggl/phys/bullet/module.hpp
+++ b/integrations/bullet/include/fggl/phys/bullet/module.hpp
@@ -23,22 +23,21 @@
#include "fggl/entity/module.hpp"
#include "fggl/phys/types.hpp"
+#include "fggl/phys/service.hpp"
#include "fggl/phys/bullet/types.hpp"
namespace fggl::phys::bullet {
- constexpr modules::ModuleService BIND_BULLET = modules::make_service("bind_bullet");
constexpr util::GUID CONFIG_PHYS_BODY = util::make_guid("phys::body");
struct Bullet {
constexpr static const char* name = "fggl::phys::bullet";
constexpr static const std::array<modules::ModuleService, 1> provides = {
- BIND_BULLET
+ phys::PhysicsProvider::service
};
constexpr static const std::array<modules::ModuleService, 1> depends = {
entity::EntityFactory::service
};
-
static bool factory(modules::ModuleService name, modules::Services& serviceManager);
};
diff --git a/integrations/bullet/include/fggl/phys/bullet/motion.hpp b/integrations/bullet/include/fggl/phys/bullet/motion.hpp
index 7a38a22..07c1a25 100644
--- a/integrations/bullet/include/fggl/phys/bullet/motion.hpp
+++ b/integrations/bullet/include/fggl/phys/bullet/motion.hpp
@@ -34,6 +34,7 @@
#define FGGL_PHYS_BULLET_MOTION_HPP
#include "types.hpp"
+#include "fggl/debug/logging.hpp"
namespace fggl::phys::bullet {
@@ -41,11 +42,16 @@ namespace fggl::phys::bullet {
public:
FgglMotionState(entity::EntityManager* world, entity::EntityID entity) : m_world(world), m_entity(entity) {
}
- virtual ~FgglMotionState() = default;
+ ~FgglMotionState() override = default;
void getWorldTransform(btTransform& worldTrans) const override {
- const auto& transform = m_world->get<fggl::math::Transform>(m_entity);
- worldTrans.setFromOpenGLMatrix( glm::value_ptr(transform.model()) );
+ const auto* transform = m_world->tryGet<fggl::math::Transform>(m_entity);
+ if ( transform == nullptr ) {
+ debug::warning("BT: attempted to get transform of entity without transform component.");
+ return;
+ }
+
+ worldTrans.setFromOpenGLMatrix(glm::value_ptr(transform->model()));
}
void setWorldTransform(const btTransform& worldTrans) override {
diff --git a/integrations/bullet/include/fggl/phys/bullet/service.hpp b/integrations/bullet/include/fggl/phys/bullet/service.hpp
new file mode 100644
index 0000000..77adc64
--- /dev/null
+++ b/integrations/bullet/include/fggl/phys/bullet/service.hpp
@@ -0,0 +1,33 @@
+/*
+ * This file is part of FGGL.
+ *
+ * FGGL is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ *
+ * FGGL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License along with FGGL.
+ * If not, see <https://www.gnu.org/licenses/>.
+ */
+
+//
+// Created by webpigeon on 01/08/22.
+//
+
+#ifndef FGGL_INTEGRATIONS_BULLET_PHYS_BULLET_BULLETSERVICE_H
+#define FGGL_INTEGRATIONS_BULLET_PHYS_BULLET_BULLETSERVICE_H
+
+#include "fggl/phys/service.hpp"
+
+namespace fggl::phys::bullet {
+
+ class BulletProvider : public phys::PhysicsProvider {
+ public:
+ PhysicsEngine* create(entity::EntityManager* entityManager, entity::EntityFactory* factory) override;
+ };
+
+}
+
+#endif //FGGL_INTEGRATIONS_BULLET_PHYS_BULLET_BULLETSERVICE_H
diff --git a/integrations/bullet/include/fggl/phys/bullet/types.hpp b/integrations/bullet/include/fggl/phys/bullet/types.hpp
index 4d6857d..b692413 100644
--- a/integrations/bullet/include/fggl/phys/bullet/types.hpp
+++ b/integrations/bullet/include/fggl/phys/bullet/types.hpp
@@ -83,6 +83,8 @@ namespace fggl::phys::bullet {
std::vector<entity::EntityID> raycastAll(math::vec3 from, math::vec3 to) override;
std::vector<entity::EntityID> sweep(PhyShape& shape, math::Transform& from, math::Transform& to) override;
+ void addBody(entity::EntityID entity, BulletBody& body);
+
bool debugDraw = false;
private:
entity::EntityManager* m_ecs;
diff --git a/integrations/bullet/src/module.cpp b/integrations/bullet/src/module.cpp
index 7703f1d..e880506 100644
--- a/integrations/bullet/src/module.cpp
+++ b/integrations/bullet/src/module.cpp
@@ -17,76 +17,13 @@
//
#include "fggl/phys/bullet/module.hpp"
-#include "fggl/phys/bullet/motion.hpp"
+#include "fggl/phys/bullet/service.hpp"
namespace fggl::phys::bullet {
- constexpr float UNIT_EXTENT = 0.5F;
-
- btCollisionShape* create_bullet_shape(const YAML::Node& node) {
- auto type = node["type"].as<std::string>("MISSING");
- if ( type == "sphere" ) {
- auto radius = node["radius"].as<float>(UNIT_EXTENT);
- return new btSphereShape(radius);
- } else if ( type == "box" ) {
- auto extents = node["extents"].as<math::vec3>(math::vec3(UNIT_EXTENT));
- return new btBoxShape(btVector3(extents.x, extents.y, extents.z));
- } else {
- debug::warning("unknown shape type: {}, assuming unit sphere", type);
- return new btSphereShape(0.5F);
- }
- }
-
- void setup_body(BodyType type, btRigidBody& body) {
- if ( type != BodyType::STATIC ) {
- body.setRestitution(0.5F);
- body.setRollingFriction(0.0F);
-
- // kinematic bodies cannot sleep
- if (type == BodyType::KINEMATIC) {
- auto flags = (body.getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
- body.setCollisionFlags(flags);
- body.setActivationState(DISABLE_DEACTIVATION);
- }
- }
- }
-
- void add_bt_body(const entity::ComponentSpec& spec, entity::EntityManager& manager, const entity::EntityID& id) {
- auto& body = manager.add<BulletBody>(id);
- body.motion = new FgglMotionState(&manager, id);
-
- auto type = spec.get<BodyType>("type", BodyType::DYNAMIC);
- auto mass = 0.0F;
-
- // non-static objects can have mass
- if ( type != BodyType::STATIC ) {
- mass = spec.get<float>("mass", 1.0F);
- }
-
- // calculate inertia
- btCollisionShape* shape = create_bullet_shape(spec.config["shape"]);
- btVector3 inertia(0, 0, 0);
- if ( type != BodyType::STATIC ) {
- shape->calculateLocalInertia(mass, inertia);
- }
-
- // construction information for the simulation
- btRigidBody::btRigidBodyConstructionInfo constructionInfo {
- mass,
- body.motion,
- shape,
- inertia
- };
- body.body = new btRigidBody(constructionInfo);
- setup_body(type, *body.body);
-
- // add the body to the simulation
- }
-
bool Bullet::factory(modules::ModuleService service, modules::Services& services) {
- if ( service == BIND_BULLET ) {
- auto* entityFactory = services.get<entity::EntityFactory>();
- entityFactory->bind(CONFIG_PHYS_BODY, add_bt_body);
+ if ( service == phys::PhysicsProvider::service ) {
+ services.bind<phys::PhysicsProvider, BulletProvider>();
}
return false;
}
diff --git a/integrations/bullet/src/service.cpp b/integrations/bullet/src/service.cpp
new file mode 100644
index 0000000..a91c777
--- /dev/null
+++ b/integrations/bullet/src/service.cpp
@@ -0,0 +1,103 @@
+/*
+ * This file is part of FGGL.
+ *
+ * FGGL is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ *
+ * FGGL is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ * of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License along with FGGL.
+ * If not, see <https://www.gnu.org/licenses/>.
+ */
+
+//
+// Created by webpigeon on 01/08/22.
+//
+
+#include "fggl/phys/bullet/service.hpp"
+#include "fggl/phys/bullet/types.hpp"
+#include "fggl/phys/bullet/motion.hpp"
+
+namespace fggl::phys::bullet {
+
+ constexpr float UNIT_EXTENT = 0.5F;
+
+ btCollisionShape* create_bullet_shape(const YAML::Node& node) {
+ auto type = node["type"].as<std::string>("MISSING");
+ if ( type == "sphere" ) {
+ auto radius = node["radius"].as<float>(UNIT_EXTENT);
+ return new btSphereShape(radius);
+ } else if ( type == "box" ) {
+ auto extents = node["extents"].as<math::vec3>(math::vec3(UNIT_EXTENT));
+ return new btBoxShape(btVector3(extents.x, extents.y, extents.z));
+ } else {
+ debug::warning("unknown shape type: {}, assuming unit sphere", type);
+ return new btSphereShape(0.5F);
+ }
+ }
+
+ void setup_body(BodyType type, btRigidBody& body) {
+ if ( type != BodyType::STATIC ) {
+ body.setRestitution(0.5F);
+ body.setRollingFriction(0.0F);
+
+ // kinematic bodies cannot sleep
+ if (type == BodyType::KINEMATIC) {
+ auto flags = (body.getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT);
+ body.setCollisionFlags(flags);
+ body.setActivationState(DISABLE_DEACTIVATION);
+ }
+ }
+ }
+
+ void add_bt_body(BulletPhysicsEngine* engine, const entity::ComponentSpec& spec, entity::EntityManager& manager, const entity::EntityID& id) {
+ auto& body = manager.add<BulletBody>(id);
+ body.motion = new FgglMotionState(&manager, id);
+
+ auto type = spec.get<BodyType>("type", BodyType::DYNAMIC);
+ auto mass = 0.0F;
+
+ // non-static objects can have mass
+ if ( type != BodyType::STATIC ) {
+ mass = spec.get<float>("mass", 1.0F);
+ }
+
+ // calculate inertia
+ btCollisionShape* shape = create_bullet_shape(spec.config["shape"]);
+ btVector3 inertia(0, 0, 0);
+ if ( type != BodyType::STATIC ) {
+ shape->calculateLocalInertia(mass, inertia);
+ }
+
+ // construction information for the simulation
+ btRigidBody::btRigidBodyConstructionInfo constructionInfo {
+ mass,
+ body.motion,
+ shape,
+ inertia
+ };
+ body.body = new btRigidBody(constructionInfo);
+ setup_body(type, *body.body);
+
+ // add the body to the simulation
+ engine->addBody(id, body);
+ if ( type == BodyType::DYNAMIC ) {
+ manager.add<phys::Dynamics>(id);
+ }
+ }
+
+ PhysicsEngine* BulletProvider::create(entity::EntityManager* entityManager, entity::EntityFactory* factory) {
+ auto* engine = new BulletPhysicsEngine(entityManager);
+
+ // FIXME: this won't work across multiple scenes - reactive approach might be better...
+ factory->bind(util::make_guid("phys::Body"), [engine](const entity::ComponentSpec& config, entity::EntityManager& manager, const entity::EntityID& id) {
+ add_bt_body(engine, config, manager, id);
+ });
+ engine->debugDraw = true;
+
+ return engine;
+ }
+
+} // namespace fggl::phys::bullet
\ No newline at end of file
diff --git a/integrations/bullet/src/simulation.cpp b/integrations/bullet/src/simulation.cpp
index 4ee06d6..df589cb 100644
--- a/integrations/bullet/src/simulation.cpp
+++ b/integrations/bullet/src/simulation.cpp
@@ -49,7 +49,7 @@ namespace fggl::phys::bullet {
m_debug = std::make_unique<debug::BulletDebugDrawList>();
m_world->setDebugDrawer( m_debug.get() );
- m_debug->setDebugMode(1);
+ m_debug->setDebugMode(btIDebugDraw::DBG_DrawWireframe);
// callbacks (for handling bullet -> ecs)
@@ -58,7 +58,8 @@ namespace fggl::phys::bullet {
}
void BulletPhysicsEngine::step() {
- checkForPhys();
+ // this is now handled on creation
+ //checkForPhys();
auto dynamicEnts = m_ecs->find<phys::Dynamics, phys::bullet::BulletBody>();
for (auto& ent : dynamicEnts) {
@@ -82,10 +83,14 @@ namespace fggl::phys::bullet {
}
}
+ void BulletPhysicsEngine::addBody(entity::EntityID /*entity*/, BulletBody &body) {
+ m_world->addRigidBody(body.body);
+ }
+
inline btCollisionShape* shape_to_bullet(const phys::RigidBody& fgglBody) {
if ( fgglBody.shape == nullptr ) {
// they forgot to put a shape, we'll assume a unit sphere to avoid crashes...
- return new btSphereShape(0.5f);
+ return new btSphereShape(0.5F);
}
switch (fgglBody.shape->type) {
--
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