more fixes in Collada Physics conversion, related to convex meshes and uninitialized mass data.

Demos/ColladaDemo/ColladaConverter.cpp

@@ -361,6 +361,8 @@ bool ColladaConverter::convert()
 											btRigidBodyOutput output;
 											output.m_colShape = colShape;
 											output.m_compoundShape = compoundShape;
+											output.m_mass = 1.f;
+											output.m_isDynamics = true;
 
 											btRigidBodyInput rbInput;
 											rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -436,6 +438,8 @@ bool ColladaConverter::convert()
 										btRigidBodyOutput output;
 										output.m_colShape = colShape;
 										output.m_compoundShape = compoundShape;
+										output.m_mass = 1.f;
+										output.m_isDynamics = true;
 
 										btRigidBodyInput rbInput;
 										rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -1035,8 +1039,12 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 				{
 					const domMeshRef meshRef = geom->getMesh();
 
-					btTriangleMesh* trimesh = new btTriangleMesh();
+					//it can be either triangle mesh, or we just pick the vertices/positions
 
+					if (meshRef->getTriangles_array().getCount())
+					{
+
+						btTriangleMesh* trimesh = new btTriangleMesh();
 						
 						for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
 						{
@@ -1142,6 +1150,54 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 							}
 
 						} 
+					} else
+						{
+
+							btConvexHullShape* convexHull = new btConvexHullShape();
+							int numAddedVerts = 0;
+
+							const domVerticesRef vertsRef = meshRef->getVertices();
+							int numInputs = vertsRef->getInput_array().getCount();
+							for (int i=0;i<numInputs;i++)
+							{
+								domInputLocalRef localRef = vertsRef->getInput_array()[i];
+								daeString str = localRef->getSemantic();
+								if ( !strcmp(str,"POSITION"))
+								{
+									const domURIFragmentType& frag = localRef->getSource();
+
+									daeElementConstRef constElem = frag.getElement();
+
+									const domSourceRef node = *(const domSourceRef*)&constElem;
+									const domFloat_arrayRef flArray = node->getFloat_array();
+									if (flArray)
+									{
+										const domListOfFloats& listFloats = flArray->getValue();
+										int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
+										int vertIndex = 0;
+										for (vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride)
+										{
+											btVector3 verts[3];
+											domFloat fl0 = listFloats.get(vertIndex);
+											domFloat fl1 = listFloats.get(vertIndex+1);
+											domFloat fl2 = listFloats.get(vertIndex+2);
+											convexHull->addPoint(btPoint3(fl0,fl1,fl2));
+										}
+									}
+								}
+							}
+							//convexHull->addPoint();
+							if (numAddedVerts > 0)
+							{
+								rbOutput.m_colShape = convexHull;
+							} else
+							{
+								delete convexHull;
+								printf("no vertices found for convex hull\n");
+							}
+
+					}
+						
 
 				}
 
@@ -1191,7 +1247,7 @@ void	ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
 							{
 								//ReadGeometry(  ); 
 								domGeometryRef lib = libgeom->getGeometry_array()[i];
-								if (!strcmp(lib->getName(),urlref2))
+								if (!strcmp(lib->getId(),urlref2))
 								{
 									//found convex_hull geometry
 									domMesh			*meshElement		= lib->getMesh();//linkedGeom->getMesh();