diff options
Diffstat (limited to 'source/gameengine/Physics/Bullet/CcdPhysicsController.cpp')
| -rw-r--r-- | source/gameengine/Physics/Bullet/CcdPhysicsController.cpp | 472 |
1 files changed, 425 insertions, 47 deletions
diff --git a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp index b1b97b5370f..f17cfb79e92 100644 --- a/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp +++ b/source/gameengine/Physics/Bullet/CcdPhysicsController.cpp @@ -20,8 +20,14 @@ subject to the following restrictions: #include "CcdPhysicsEnvironment.h" #include "RAS_MeshObject.h" #include "BulletSoftBody/btSoftBody.h" +#include "BulletSoftBody//btSoftBodyInternals.h" +#include "BulletSoftBody/btSoftBodyHelpers.h" +#include "LinearMath/btConvexHull.h" +#include "BulletCollision/Gimpact/btGImpactShape.h" +#include "BulletSoftBody/btSoftRigidDynamicsWorld.h" + class BP_Proxy; ///todo: fill all the empty CcdPhysicsController methods, hook them up to the btRigidBody class @@ -42,10 +48,13 @@ btVector3 startVel(0,0,0);//-10000); CcdPhysicsController::CcdPhysicsController (const CcdConstructionInfo& ci) :m_cci(ci) { + m_prototypeTransformInitialized = false; + m_softbodyMappingDone = false; m_collisionDelay = 0; m_newClientInfo = 0; m_registerCount = 0; - + m_softBodyTransformInitialized = false; + // copy pointers locally to allow smart release m_MotionState = ci.m_MotionState; m_collisionShape = ci.m_collisionShape; @@ -133,25 +142,274 @@ btSoftBody* CcdPhysicsController::GetSoftBody() return btSoftBody::upcast(m_object); } +#include "BulletSoftBody/btSoftBodyHelpers.h" + + void CcdPhysicsController::CreateRigidbody() { - btTransform trans = GetTransformFromMotionState(m_MotionState); + //btTransform trans = GetTransformFromMotionState(m_MotionState); m_bulletMotionState = new BlenderBulletMotionState(m_MotionState); ///either create a btCollisionObject, btRigidBody or btSoftBody //create a collision object - if (0)//m_cci.m_mass==0.f) + + int shapeType = m_cci.m_collisionShape ? m_cci.m_collisionShape->getShapeType() : 0; + + //disable soft body until first sneak preview is ready + if (m_cci.m_bSoft && m_cci.m_collisionShape && + (shapeType == CONVEX_HULL_SHAPE_PROXYTYPE)| + (shapeType == TRIANGLE_MESH_SHAPE_PROXYTYPE) | + (shapeType == SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE)) { btRigidBody::btRigidBodyConstructionInfo rbci(m_cci.m_mass,m_bulletMotionState,m_collisionShape,m_cci.m_localInertiaTensor * m_cci.m_inertiaFactor); rbci.m_linearDamping = m_cci.m_linearDamping; rbci.m_angularDamping = m_cci.m_angularDamping; rbci.m_friction = m_cci.m_friction; rbci.m_restitution = m_cci.m_restitution; - m_object = new btCollisionObject(); - m_object->setCollisionShape(rbci.m_collisionShape); + + + int nodecount = 0; + + int numtriangles = 1; + + btVector3 p(0,0,0);// = getOrigin(); + btScalar h = 1.f; + + btSoftRigidDynamicsWorld* softDynaWorld = (btSoftRigidDynamicsWorld*)m_cci.m_physicsEnv->getDynamicsWorld(); + + PHY__Vector3 grav; + grav[0] = softDynaWorld->getGravity().getX(); + grav[1] = softDynaWorld->getGravity().getY(); + grav[2] = softDynaWorld->getGravity().getZ(); + softDynaWorld->getWorldInfo().m_gravity.setValue(grav[0],grav[1],grav[2]); //?? + + + //btSoftBody* psb=btSoftBodyHelpers::CreateRope(sbi, btVector3(-10,0,i*0.25),btVector3(10,0,i*0.25), 16,1+2); + + btSoftBody* psb = 0; + + if (m_cci.m_collisionShape->getShapeType() == CONVEX_HULL_SHAPE_PROXYTYPE) + { + btConvexHullShape* convexHull = (btConvexHullShape* )m_cci.m_collisionShape; + + //psb = btSoftBodyHelpers::CreateFromConvexHull(sbi,&transformedVertices[0],convexHull->getNumPoints()); + + { + int nvertices = convexHull->getNumPoints(); + const btVector3* vertices = convexHull->getPoints(); + btSoftBodyWorldInfo& worldInfo = softDynaWorld->getWorldInfo(); + + HullDesc hdsc(QF_TRIANGLES,nvertices,vertices); + HullResult hres; + HullLibrary hlib;/*??*/ + hdsc.mMaxVertices=nvertices; + hlib.CreateConvexHull(hdsc,hres); + + psb=new btSoftBody(&worldInfo,(int)hres.mNumOutputVertices, + &hres.m_OutputVertices[0],0); + for(int i=0;i<(int)hres.mNumFaces;++i) + { + const int idx[]={ hres.m_Indices[i*3+0], + hres.m_Indices[i*3+1], + hres.m_Indices[i*3+2]}; + if(idx[0]<idx[1]) psb->appendLink( idx[0],idx[1]); + if(idx[1]<idx[2]) psb->appendLink( idx[1],idx[2]); + if(idx[2]<idx[0]) psb->appendLink( idx[2],idx[0]); + psb->appendFace(idx[0],idx[1],idx[2]); + } + + + + hlib.ReleaseResult(hres); + + + } + + + + + + + } else + { + + btSoftBodyWorldInfo& sbi= softDynaWorld->getWorldInfo(); + + if (m_cci.m_collisionShape->getShapeType() ==SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE) + { + btScaledBvhTriangleMeshShape* scaledtrimeshshape = (btScaledBvhTriangleMeshShape*) m_cci.m_collisionShape; + btBvhTriangleMeshShape* trimeshshape = scaledtrimeshshape->getChildShape(); + + ///only deal with meshes that have 1 sub part/component, for now + if (trimeshshape->getMeshInterface()->getNumSubParts()==1) + { + unsigned char* vertexBase; + PHY_ScalarType vertexType; + int numverts; + int vertexstride; + unsigned char* indexbase; + int indexstride; + int numtris; + PHY_ScalarType indexType; + trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType); + + psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,(const btScalar*)vertexBase,(const int*)indexbase,numtris); + } + } else + { + btBvhTriangleMeshShape* trimeshshape = (btBvhTriangleMeshShape*) m_cci.m_collisionShape; + ///only deal with meshes that have 1 sub part/component, for now + if (trimeshshape->getMeshInterface()->getNumSubParts()==1) + { + unsigned char* vertexBase; + PHY_ScalarType vertexType; + int numverts; + int vertexstride; + unsigned char* indexbase; + int indexstride; + int numtris; + PHY_ScalarType indexType; + trimeshshape->getMeshInterface()->getLockedVertexIndexBase(&vertexBase,numverts,vertexType,vertexstride,&indexbase,indexstride,numtris,indexType); + + psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,(const btScalar*)vertexBase,(const int*)indexbase,numtris); + } + + + //psb = btSoftBodyHelpers::CreateFromTriMesh(sbi,&pts[0].getX(),triangles,numtriangles); + } + + } + + + + m_object = psb; + + //psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS;//btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS; + psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RS + btSoftBody::fCollision::VF_SS;//CL_SS; + //psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS + btSoftBody::fCollision::CL_RS; + + //btSoftBody::Material* pm=psb->appendMaterial(); + btSoftBody::Material* pm=psb->m_materials[0]; + + pm->m_kLST = m_cci.m_linearStiffness; + pm->m_kAST = m_cci.m_angularStiffness; + pm->m_kVST = m_cci.m_volumePreservation; + + + + //pm->m_kAST = 0.01f; + //pm->m_kVST = 0.001f; + psb->generateBendingConstraints(2,pm); + psb->m_cfg.piterations = 4; + psb->m_cfg.viterations = 4; + psb->m_cfg.diterations = 4; + psb->m_cfg.citerations = 4; + if (m_cci.m_gamesoftFlag & 2)//OB_SB_GOAL) + { + psb->setPose(false,true);// + } else + { + psb->setPose(true,false); + } + + psb->m_cfg.kDF = 0.5; + //psb->m_cfg.kMT = 0.05; + psb->m_cfg.piterations = 5; + + psb->m_cfg.piterations = 5; + //psb->m_cfg.kVC = 20; + + psb->randomizeConstraints(); + +/* + psb->m_cfg.kDF = 0.1f;//1.f; + psb->m_cfg.kDP = 0.0001; + //psb->m_cfg.kDP = 0.005; + psb->m_cfg.kCHR = 0.1; + //psb->m_cfg.kVCF = 0.1f; + psb->m_cfg.kVCF = 0.0001f; + //psb->m_cfg.kAHR = 0.1f; + psb->m_cfg.kAHR = 0.0001f; + psb->m_cfg.kMT = 0.1f; + //psb->m_cfg.kDF=1; + */ + +// psb->activate(); +// psb->setActivationState(1); +// psb->setDeactivationTime(1.f); + + //psb->m_materials[0]->m_kLST = 0.1+(i/(btScalar)(n-1))*0.9; + psb->setTotalMass(m_cci.m_mass); + psb->generateClusters(64); + psb->setCollisionFlags(0); + + + + + + ///create a mapping between graphics mesh vertices and soft body vertices + { + RAS_MeshObject* rasMesh= GetShapeInfo()->GetMesh(); + + if (rasMesh && !m_softbodyMappingDone) + { + + //printf("apply\n"); + RAS_MeshSlot::iterator it; + RAS_MeshMaterial *mmat; + RAS_MeshSlot *slot; + size_t i; + + //for each material + for (int m=0;m<rasMesh->NumMaterials();m++) + { + // The vertex cache can only be updated for this deformer: + // Duplicated objects with more than one ploymaterial (=multiple mesh slot per object) + // share the same mesh (=the same cache). As the rendering is done per polymaterial + // cycling through the objects, the entire mesh cache cannot be updated in one shot. + mmat = rasMesh->GetMeshMaterial(m); + + slot = mmat->m_baseslot; + for(slot->begin(it); !slot->end(it); slot->next(it)) + { + int index = 0; + for(i=it.startvertex; i<it.endvertex; i++,index++) + { + RAS_TexVert* vertex = &it.vertex[i]; + + + //search closest index, and store it in vertex + vertex->setSoftBodyIndex(0); + btScalar maxDistSqr = 1e30; + btSoftBody::tNodeArray& nodes(psb->m_nodes); + btVector3 xyz = btVector3(vertex->getXYZ()[0],vertex->getXYZ()[1],vertex->getXYZ()[2]); + for (int n=0;n<nodes.size();n++) + { + btScalar distSqr = (nodes[n].m_x - xyz).length2(); + if (distSqr<maxDistSqr) + { + maxDistSqr = distSqr; + + vertex->setSoftBodyIndex(n); + } + } + } + } + } + } + } + + m_softbodyMappingDone = true; + + + + + + +// m_object->setCollisionShape(rbci.m_collisionShape); btTransform startTrans; if (rbci.m_motionState) @@ -161,8 +419,24 @@ void CcdPhysicsController::CreateRigidbody() { startTrans = rbci.m_startWorldTransform; } - m_object->setWorldTransform(startTrans); - m_object->setInterpolationWorldTransform(startTrans); + //startTrans.setIdentity(); + + //m_object->setWorldTransform(startTrans); + //m_object->setInterpolationWorldTransform(startTrans); + m_MotionState->setWorldPosition(startTrans.getOrigin().getX(),startTrans.getOrigin().getY(),startTrans.getOrigin().getZ()); + m_MotionState->setWorldOrientation(0,0,0,1); + + if (!m_prototypeTransformInitialized) + { + m_prototypeTransformInitialized = true; + m_softBodyTransformInitialized = true; + GetSoftBody()->transform(startTrans); + } + +// btVector3 wp = m_softBody->getWorldTransform().getOrigin(); +// MT_Point3 center(wp.getX(),wp.getY(),wp.getZ()); +// m_gameobj->NodeSetWorldPosition(center); + } else { @@ -257,10 +531,22 @@ bool CcdPhysicsController::SynchronizeMotionStates(float time) { //sync non-static to motionstate, and static from motionstate (todo: add kinematic etc.) + btSoftBody* sb = GetSoftBody(); + if (sb) + { + btVector3 aabbMin,aabbMax; + sb->getAabb(aabbMin,aabbMax); + btVector3 worldPos = (aabbMax+aabbMin)*0.5f; + m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); + m_MotionState->calculateWorldTransformations(); + return true; + } + btRigidBody* body = GetRigidBody(); if (body && !body->isStaticObject()) { + const btVector3& worldPos = body->getCenterOfMassPosition(); m_MotionState->setWorldPosition(worldPos[0],worldPos[1],worldPos[2]); @@ -311,6 +597,7 @@ void CcdPhysicsController::WriteDynamicsToMotionState() // controller replication void CcdPhysicsController::PostProcessReplica(class PHY_IMotionState* motionstate,class PHY_IPhysicsController* parentctrl) { + m_softBodyTransformInitialized=false; m_MotionState = motionstate; m_registerCount = 0; m_collisionShape = NULL; @@ -391,7 +678,7 @@ void CcdPhysicsController::SetCenterOfMassTransform(btTransform& xform) //either collision object or soft body? if (GetSoftBody()) { - //not yet + } else { @@ -500,6 +787,9 @@ void CcdPhysicsController::setOrientation(float quatImag0,float quatImag1,float SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); + + + } } @@ -520,6 +810,15 @@ void CcdPhysicsController::setWorldOrientation(const btMatrix3x3& orn) SetCenterOfMassTransform(xform); // not required //m_bulletMotionState->setWorldTransform(xform); + //only once! + if (!m_softBodyTransformInitialized && GetSoftBody()) + { + m_softbodyStartTrans.setBasis(orn); + xform.setOrigin(m_softbodyStartTrans.getOrigin()); + GetSoftBody()->transform(xform); + m_softBodyTransformInitialized = true; + } + } } @@ -538,6 +837,8 @@ void CcdPhysicsController::setPosition(float posX,float posY,float posZ) btTransform xform = m_object->getWorldTransform(); xform.setOrigin(btVector3(posX,posY,posZ)); SetCenterOfMassTransform(xform); + if (!m_softBodyTransformInitialized) + m_softbodyStartTrans.setOrigin(xform.getOrigin()); // not required //m_bulletMotionState->setWorldTransform(xform); } @@ -617,15 +918,20 @@ void CcdPhysicsController::ApplyForce(float forceX,float forceY,float forceZ,bo m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - btRigidBody* body = GetRigidBody(); - if (body) { - btTransform xform = body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); + if (local) { force = xform.getBasis()*force; } - body->applyCentralForce(force); + btRigidBody* body = GetRigidBody(); + if (body) + body->applyCentralForce(force); + btSoftBody* soft = GetSoftBody(); + if (soft) + soft->addForce(force); + } } } @@ -639,15 +945,16 @@ void CcdPhysicsController::SetAngularVelocity(float ang_velX,float ang_velY,flo { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - btRigidBody* body = GetRigidBody(); - if (body) { - btTransform xform = body->getCenterOfMassTransform(); + btTransform xform = m_object->getWorldTransform(); if (local) { angvel = xform.getBasis()*angvel; } - body->setAngularVelocity(angvel); + btRigidBody* body = GetRigidBody(); + if (body) + body->setAngularVelocity(angvel); + } } @@ -656,22 +963,32 @@ void CcdPhysicsController::SetLinearVelocity(float lin_velX,float lin_velY,floa { btVector3 linVel(lin_velX,lin_velY,lin_velZ); - if (m_object && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)) + if (m_object/* && linVel.length2() > (SIMD_EPSILON*SIMD_EPSILON)*/) { m_object->activate(true); if (m_object->isStaticObject()) { m_object->setCollisionFlags(m_object->getCollisionFlags() | btCollisionObject::CF_KINEMATIC_OBJECT); } - btRigidBody* body = GetRigidBody(); - if (body) + + btSoftBody* soft = GetSoftBody(); + if (soft) + { + if (local) + { + linVel = m_softbodyStartTrans.getBasis()*linVel; + } + soft->setVelocity(linVel); + } else { btTransform xform = m_object->getWorldTransform(); if (local) { linVel = xform.getBasis()*linVel; } - body->setLinearVelocity(linVel); + btRigidBody* body = GetRigidBody(); + if (body) + body->setLinearVelocity(linVel); } } } @@ -691,6 +1008,7 @@ void CcdPhysicsController::applyImpulse(float attachX,float attachY,float attac btRigidBody* body = GetRigidBody(); if (body) body->applyImpulse(impulse,pos); + } } @@ -902,9 +1220,27 @@ void DefaultMotionState::calculateWorldTransformations() } // Shape constructor -bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) +std::map<RAS_MeshObject*, CcdShapeConstructionInfo*> CcdShapeConstructionInfo::m_meshShapeMap; + +CcdShapeConstructionInfo* CcdShapeConstructionInfo::FindMesh(RAS_MeshObject* mesh, bool polytope) +{ + if (polytope) + // not yet supported + return NULL; + + std::map<RAS_MeshObject*,CcdShapeConstructionInfo*>::const_iterator mit = m_meshShapeMap.find(mesh); + if (mit != m_meshShapeMap.end()) + return mit->second; + return NULL; +} + +bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope,bool useGimpact) { + m_useGimpact = useGimpact; + // assume no shape information + // no support for dynamic change of shape yet + assert(m_meshObject == NULL); m_shapeType = PHY_SHAPE_NONE; m_vertexArray.clear(); m_polygonIndexArray.clear(); @@ -957,7 +1293,19 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) { const float* vtx = poly->GetVertex(i)->getXYZ(); btPoint3 point(vtx[0],vtx[1],vtx[2]); - m_vertexArray.push_back(point); + //avoid duplicates (could better directly use vertex offsets, rather than a vertex compare) + bool found = false; + for (int j=0;j<m_vertexArray.size();j++) + { + if (m_vertexArray[j]==point) + { + found = true; + break; + } + } + if (!found) + m_vertexArray.push_back(point); + numvalidpolys++; } } else @@ -1006,6 +1354,11 @@ bool CcdShapeConstructionInfo::SetMesh(RAS_MeshObject* meshobj, bool polytope) return false; } m_meshObject = meshobj; + if (!polytope) + { + // triangle shape can be shared, store the mesh object in the map + m_meshShapeMap.insert(std::pair<RAS_MeshObject*,CcdShapeConstructionInfo*>(meshobj,this)); + } return true; } @@ -1050,32 +1403,54 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() // 9 multiplications/additions and one function call for each triangle that passes the mid phase filtering // One possible optimization is to use directly the btBvhTriangleMeshShape when the scale is 1,1,1 // and btScaledBvhTriangleMeshShape otherwise. - if (!m_unscaledShape) + if (m_useGimpact) + { + collisionMeshData = new btTriangleMesh(); + + + // m_vertexArray is necessarily a multiple of 3 + for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + { + collisionMeshData->addTriangle(*it++,*it++,*it++); + } + btGImpactMeshShape* gimpactShape = new btGImpactMeshShape(collisionMeshData); + + collisionShape = gimpactShape; + gimpactShape->updateBound(); + + } else { - collisionMeshData = new btTriangleMesh(); - // m_vertexArray is necessarily a multiple of 3 - for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + if (!m_unscaledShape) { - collisionMeshData->addTriangle(*it++,*it++,*it++); + collisionMeshData = new btTriangleMesh(true,false); + collisionMeshData->m_weldingThreshold = m_weldingThreshold; + + // m_vertexArray is necessarily a multiple of 3 + for (std::vector<btPoint3>::iterator it=m_vertexArray.begin(); it != m_vertexArray.end(); ) + { + collisionMeshData->addTriangle(*it++,*it++,*it++); + } + // this shape will be shared and not deleted until shapeInfo is deleted + m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true ); + m_unscaledShape->recalcLocalAabb(); } - // this shape will be shared and not deleted until shapeInfo is deleted - m_unscaledShape = new btBvhTriangleMeshShape( collisionMeshData, true ); - m_unscaledShape->recalcLocalAabb(); + collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); } - collisionShape = new btScaledBvhTriangleMeshShape(m_unscaledShape, btVector3(1.0f,1.0f,1.0f)); break; case PHY_SHAPE_COMPOUND: - if (m_nextShape) + if (m_shapeArray.size() > 0) { compoundShape = new btCompoundShape(); - for (nextShapeInfo=m_nextShape; nextShapeInfo; nextShapeInfo = nextShapeInfo->m_nextShape) + for (std::vector<CcdShapeConstructionInfo*>::iterator sit = m_shapeArray.begin(); + sit != m_shapeArray.end(); + sit++) { - collisionShape = nextShapeInfo->CreateBulletShape(); + collisionShape = (*sit)->CreateBulletShape(); if (collisionShape) { - collisionShape->setLocalScaling(nextShapeInfo->m_childScale); - compoundShape->addChildShape(nextShapeInfo->m_childTrans, collisionShape); + collisionShape->setLocalScaling((*sit)->m_childScale); + compoundShape->addChildShape((*sit)->m_childTrans, collisionShape); } } collisionShape = compoundShape; @@ -1086,28 +1461,31 @@ btCollisionShape* CcdShapeConstructionInfo::CreateBulletShape() void CcdShapeConstructionInfo::AddShape(CcdShapeConstructionInfo* shapeInfo) { - CcdShapeConstructionInfo* nextShape = this; - while (nextShape->m_nextShape != NULL) - nextShape = nextShape->m_nextShape; - nextShape->m_nextShape = shapeInfo; + m_shapeArray.push_back(shapeInfo); } CcdShapeConstructionInfo::~CcdShapeConstructionInfo() { - CcdShapeConstructionInfo* childShape = m_nextShape; - - while (childShape) + for (std::vector<CcdShapeConstructionInfo*>::iterator sit = m_shapeArray.begin(); + sit != m_shapeArray.end(); + sit++) { - CcdShapeConstructionInfo* nextShape = childShape->m_nextShape; - childShape->m_nextShape = NULL; - childShape->Release(); - childShape = nextShape; + (*sit)->Release(); } + m_shapeArray.clear(); if (m_unscaledShape) { DeleteBulletShape(m_unscaledShape); } m_vertexArray.clear(); + if (m_shapeType == PHY_SHAPE_MESH && m_meshObject != NULL) + { + std::map<RAS_MeshObject*,CcdShapeConstructionInfo*>::iterator mit = m_meshShapeMap.find(m_meshObject); + if (mit != m_meshShapeMap.end() && mit->second == this) + { + m_meshShapeMap.erase(mit); + } + } } |