import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
public static TriangleIndexVertexArray verticesToPhysicsMesh(float[] vts, int[] ids){
	
	IndexedMesh indexedMesh=new IndexedMesh();
	indexedMesh.numTriangles=ids.length/3;
	indexedMesh.triangleIndexBase=ByteBuffer.allocateDirect(ids.length*4).order(ByteOrder.nativeOrder());
	indexedMesh.triangleIndexBase.asIntBuffer().put(ids);
	indexedMesh.triangleIndexStride=3*4;
	indexedMesh.numVertices=vts.length;
	indexedMesh.vertexBase=ByteBuffer.allocateDirect(vts.length*4).order(ByteOrder.nativeOrder());
	indexedMesh.vertexBase.asFloatBuffer().put(vts);
	indexedMesh.vertexStride=3*4;
	
	TriangleIndexVertexArray vertArray=new TriangleIndexVertexArray();
	vertArray.addIndexedMesh(indexedMesh);
	return vertArray;
}
 

import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
protected void createShape() {
    bulletMesh = new IndexedMesh();
    bulletMesh.numVertices = numVertices;
    bulletMesh.numTriangles = numTriangles;
    bulletMesh.vertexStride = vertexStride;
    bulletMesh.triangleIndexStride = triangleIndexStride;
    bulletMesh.triangleIndexBase = triangleIndexBase;
    bulletMesh.vertexBase = vertexBase;
    bulletMesh.triangleIndexBase = triangleIndexBase;
    TriangleIndexVertexArray tiv = new TriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride);
    cShape = new GImpactMeshShape(tiv);
    cShape.setLocalScaling(Converter.convert(worldScale));
    ((GImpactMeshShape)cShape).updateBound();
    cShape.setLocalScaling(Converter.convert(getScale()));
    cShape.setMargin(margin);
}
 

import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
/**
 * 
 */
@Override
public void initPhysics() {
	DefaultMotionState groundMotionState = new DefaultMotionState(new Transform(new Matrix4f(new Quat4f(0, 0, 0, 1), new Vector3f(0, -1, 0), 1.0f))); 

	//TODO: Un uglify this code.
	TriangleIndexVertexArray vertArray = new TriangleIndexVertexArray();
	
	for (Mesh mesh : this.getMeshes()) {
		// Construct collision shape based on the mesh vertices in the Mesh.
		float[] positions = mesh.getPositions();
		int[] indices = mesh.getIndices();
		
		IndexedMesh indexedMesh = new IndexedMesh();
		indexedMesh.numTriangles = indices.length / 3;
		indexedMesh.triangleIndexBase = ByteBuffer.allocateDirect(indices.length*4).order(ByteOrder.nativeOrder());
        indexedMesh.triangleIndexBase.asIntBuffer().put(indices);
        indexedMesh.triangleIndexStride = 3 * 4;
        indexedMesh.numVertices = positions.length / 3;
        indexedMesh.vertexBase = ByteBuffer.allocateDirect(positions.length*4).order(ByteOrder.nativeOrder());
        indexedMesh.vertexBase.asFloatBuffer().put(positions);
        indexedMesh.vertexStride = 3 * 4;
		
		
		vertArray.addIndexedMesh(indexedMesh);
	}
	
	BvhTriangleMeshShape collShape = new BvhTriangleMeshShape(vertArray, false);
	System.out.println("SCALE: " + this.getScale());
	//collisionShape = new ScaledBvhTriangleMeshShape(collShape, new Vector3f(this.getcale(), this.getScale(), this.getScale()));
	collisionShape = collShape;
	collisionShape.setLocalScaling(new Vector3f(this.getScale(), this.getScale(), this.getScale()));
	RigidBodyConstructionInfo groundRigidBodyCI = new RigidBodyConstructionInfo(0, groundMotionState, collisionShape, new Vector3f(0,0,0)); 
	rigidBody = new RigidBody(groundRigidBodyCI);
	this.rigidBody.activate();
}
 

import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
protected void createShape() {
    bulletMesh = new IndexedMesh();
    bulletMesh.numVertices = numVertices;
    bulletMesh.numTriangles = numTriangles;
    bulletMesh.vertexStride = vertexStride;
    bulletMesh.triangleIndexStride = triangleIndexStride;
    bulletMesh.triangleIndexBase = triangleIndexBase;
    bulletMesh.vertexBase = vertexBase;
    bulletMesh.triangleIndexBase = triangleIndexBase;
    TriangleIndexVertexArray tiv = new TriangleIndexVertexArray(numTriangles, triangleIndexBase, triangleIndexStride, numVertices, vertexBase, vertexStride);
    cShape = new BvhTriangleMeshShape(tiv, true);
    cShape.setLocalScaling(Converter.convert(getScale()));
    cShape.setMargin(margin);
}
 

import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
public void initGImpactCollision() {
	// create trimesh
	TriangleIndexVertexArray indexVertexArrays = new TriangleIndexVertexArray(
			Bunny.NUM_TRIANGLES, Bunny.getIndexBuffer(), 4 * 3,
			Bunny.NUM_VERTICES, Bunny.getVertexBuffer(), 4 * 3);

	GImpactMeshShape trimesh = new GImpactMeshShape(indexVertexArrays);
	trimesh.setLocalScaling(new Vector3f(4f, 4f, 4f));
	trimesh.updateBound();
	trimeshShape = trimesh;

	// register algorithm
	GImpactCollisionAlgorithm.registerAlgorithm(dispatcher);
}
 

import com.bulletphysics.collision.shapes.TriangleIndexVertexArray; //导入依赖的package包/类
/**
 * Creates a new body from the specified {@link de.fabmax.lightgl.scene.Mesh} and
 * {@link com.bulletphysics.collision.shapes.CollisionShape} with the specified mass.
 *
 * @param gfxMesh          {@link de.fabmax.lightgl.scene.Mesh} used to render this body
 * @param collisionMesh    Triangle mesh that will be used to build the collision shape for this
 *                         body
 * @param mass             Mass of the body
 */
public PhysicsBody(Mesh gfxMesh, TriangleIndexVertexArray collisionMesh, float mass) {
    if (gfxMesh != null) {
        mGfxMesh = gfxMesh;
        addChild(mGfxMesh);
    }
    mCollisionMesh = collisionMesh;
    mMass = mass;

    mBufferedTransform.setIdentity();
    mPhysicsTransform.setIdentity();
}