Add support for animated collision shapes (Fixes #1549)

apps/openmw/mwworld/physicssystem.cpp

@@ -12,6 +12,7 @@
 
 #include <openengine/bullet/trace.h>
 #include <openengine/bullet/physic.hpp>
+#include <openengine/bullet/BtOgreExtras.h>
 #include <openengine/ogre/renderer.hpp>
 
 #include <components/nifbullet/bulletnifloader.hpp>
@@ -26,10 +27,49 @@
 #include "../mwworld/esmstore.hpp"
 #include "../mwworld/cellstore.hpp"
 
+#include "../apps/openmw/mwrender/animation.hpp"
+#include "../apps/openmw/mwbase/world.hpp"
+#include "../apps/openmw/mwbase/environment.hpp"
+
 #include "ptr.hpp"
 #include "class.hpp"
 
 using namespace Ogre;
+
+namespace
+{
+
+void animateCollisionShapes (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>& map)
+{
+    for (std::map<OEngine::Physic::RigidBody*, OEngine::Physic::AnimatedShapeInstance>::iterator it = map.begin();
+         it != map.end(); ++it)
+    {
+        MWWorld::Ptr ptr = MWBase::Environment::get().getWorld()->searchPtrViaHandle(it->first->mName);
+        MWRender::Animation* animation = MWBase::Environment::get().getWorld()->getAnimation(ptr);
+
+        OEngine::Physic::AnimatedShapeInstance& instance = it->second;
+
+        std::map<std::string, int>& shapes = instance.mAnimatedShapes;
+        for (std::map<std::string, int>::iterator shapeIt = shapes.begin();
+             shapeIt != shapes.end(); ++shapeIt)
+        {
+            Ogre::Node* bone = animation->getNode(shapeIt->first);
+
+            btCompoundShape* compound = dynamic_cast<btCompoundShape*>(instance.mCompound);
+
+            btTransform trans;
+            trans.setOrigin(BtOgre::Convert::toBullet(bone->_getDerivedPosition()));
+            trans.setRotation(BtOgre::Convert::toBullet(bone->_getDerivedOrientation()));
+
+            compound->getChildShape(shapeIt->second)->setLocalScaling(BtOgre::Convert::toBullet(bone->_getDerivedScale()));
+            compound->updateChildTransform(shapeIt->second, trans);
+        }
+    }
+}
+
+}
+
+
 namespace MWWorld
 {
 
@@ -564,11 +604,10 @@ namespace MWWorld
         std::string mesh = ptr.getClass().getModel(ptr);
         Ogre::SceneNode* node = ptr.getRefData().getBaseNode();
         handleToMesh[node->getName()] = mesh;
-        OEngine::Physic::RigidBody* body = mEngine->createAndAdjustRigidBody(
+        mEngine->createAndAdjustRigidBody(
             mesh, node->getName(), node->getScale().x, node->getPosition(), node->getOrientation(), 0, 0, false, placeable);
-        OEngine::Physic::RigidBody* raycastingBody = mEngine->createAndAdjustRigidBody(
+        mEngine->createAndAdjustRigidBody(
             mesh, node->getName(), node->getScale().x, node->getPosition(), node->getOrientation(), 0, 0, true, placeable);
-        mEngine->addRigidBody(body, true, raycastingBody);
     }
 
     void PhysicsSystem::addActor (const Ptr& ptr)
@@ -770,4 +809,12 @@ namespace MWWorld
 
         return mMovementResults;
     }
+
+    void PhysicsSystem::stepSimulation(float dt)
+    {
+        animateCollisionShapes(mEngine->mAnimatedShapes);
+        animateCollisionShapes(mEngine->mAnimatedRaycastingShapes);
+
+        mEngine->stepSimulation(dt);
+    }
 }

apps/openmw/mwworld/physicssystem.hpp

@@ -53,6 +53,8 @@ namespace MWWorld
 
             bool toggleCollisionMode();
 
+            void stepSimulation(float dt);
+
             std::vector<std::string> getCollisions(const MWWorld::Ptr &ptr); ///< get handles this object collides with
             Ogre::Vector3 traceDown(const MWWorld::Ptr &ptr);
 

apps/openmw/mwworld/worldimp.cpp

@@ -1231,7 +1231,7 @@ namespace MWWorld
         if(player != results.end())
             moveObjectImp(player->first, player->second.x, player->second.y, player->second.z);
 
-        mPhysEngine->stepSimulation(duration);
+        mPhysics->stepSimulation(duration);
     }
 
     bool World::castRay (float x1, float y1, float z1, float x2, float y2, float z2)

components/nifbullet/bulletnifloader.cpp

@@ -49,20 +49,6 @@ typedef unsigned char ubyte;
 namespace NifBullet
 {
 
-struct TriangleMeshShape : public btBvhTriangleMeshShape
-{
-    TriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
-        : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression)
-    {
-    }
-
-    virtual ~TriangleMeshShape()
-    {
-        delete getTriangleInfoMap();
-        delete m_meshInterface;
-    }
-};
-
 ManualBulletShapeLoader::~ManualBulletShapeLoader()
 {
 }
@@ -81,9 +67,8 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
     mBoundingBox = NULL;
     mShape->mBoxTranslation = Ogre::Vector3(0,0,0);
     mShape->mBoxRotation = Ogre::Quaternion::IDENTITY;
-    mHasShape = false;
-
-    btTriangleMesh* mesh1 = new btTriangleMesh();
+    mCompoundShape = NULL;
+    mStaticMesh = NULL;
 
     // Load the NIF. TODO: Wrap this in a try-catch block once we're out
     // of the early stages of development. Right now we WANT to catch
@@ -111,19 +96,35 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
     mShape->mHasCollisionNode = hasRootCollisionNode(node);
 
     //do a first pass
-    handleNode(mesh1, node,0,false,false,false);
+    handleNode(node,0,false,false,false);
 
     if(mBoundingBox != NULL)
     {
        mShape->mCollisionShape = mBoundingBox;
-       delete mesh1;
+       delete mStaticMesh;
+       if (mCompoundShape)
+       {
+           int n = mCompoundShape->getNumChildShapes();
+           for(int i=0; i <n;i++)
+               delete (mCompoundShape->getChildShape(i));
+           delete mCompoundShape;
+       }
     }
-    else if (mHasShape && mShape->mCollide)
+    else
     {
-        mShape->mCollisionShape = new TriangleMeshShape(mesh1,true);
+        if (mCompoundShape)
+        {
+            mShape->mCollisionShape = mCompoundShape;
+            if (mStaticMesh)
+            {
+                btTransform trans;
+                trans.setIdentity();
+                mCompoundShape->addChildShape(trans, new TriangleMeshShape(mStaticMesh,true));
+            }
+        }
+        else if (mStaticMesh)
+            mShape->mCollisionShape = new TriangleMeshShape(mStaticMesh,true);
     }
-    else
-        delete mesh1;
 
     //second pass which create a shape for raycasting.
     mResourceName = mShape->getName();
@@ -131,18 +132,23 @@ void ManualBulletShapeLoader::loadResource(Ogre::Resource *resource)
     mBoundingBox = NULL;
     mShape->mBoxTranslation = Ogre::Vector3(0,0,0);
     mShape->mBoxRotation = Ogre::Quaternion::IDENTITY;
-    mHasShape = false;
-
-    btTriangleMesh* mesh2 = new btTriangleMesh();
+    mStaticMesh = NULL;
+    mCompoundShape = NULL;
 
-    handleNode(mesh2, node,0,true,true,false);
+    handleNode(node,0,true,true,false);
 
-    if (mHasShape)
+    if (mCompoundShape)
     {
-        mShape->mRaycastingShape = new TriangleMeshShape(mesh2,true);
+        mShape->mRaycastingShape = mCompoundShape;
+        if (mStaticMesh)
+        {
+            btTransform trans;
+            trans.setIdentity();
+            mCompoundShape->addChildShape(trans, new TriangleMeshShape(mStaticMesh,true));
+        }
     }
-    else
-        delete mesh2;
+    else if (mStaticMesh)
+        mShape->mRaycastingShape = new TriangleMeshShape(mStaticMesh,true);
 }
 
 bool ManualBulletShapeLoader::hasRootCollisionNode(Nif::Node const * node)
@@ -167,14 +173,17 @@ bool ManualBulletShapeLoader::hasRootCollisionNode(Nif::Node const * node)
     return false;
 }
 
-void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *node, int flags,
+void ManualBulletShapeLoader::handleNode(const Nif::Node *node, int flags,
                                          bool isCollisionNode,
-                                         bool raycasting, bool isMarker)
+                                         bool raycasting, bool isMarker, bool isAnimated)
 {
     // Accumulate the flags from all the child nodes. This works for all
     // the flags we currently use, at least.
     flags |= node->flags;
 
+    if (!node->controller.empty() && node->controller->recType == Nif::RC_NiKeyframeController)
+        isAnimated = true;
+
     if (!raycasting)
         isCollisionNode = isCollisionNode || (node->recType == Nif::RC_RootCollisionNode);
     else
@@ -237,7 +246,7 @@ void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *
         else if(node->recType == Nif::RC_NiTriShape)
         {
             mShape->mCollide = !(flags&0x800);
-            handleNiTriShape(mesh, static_cast<const Nif::NiTriShape*>(node), flags, node->getWorldTransform(), raycasting);
+            handleNiTriShape(static_cast<const Nif::NiTriShape*>(node), flags, node->getWorldTransform(), raycasting, isAnimated);
         }
     }
 
@@ -249,13 +258,13 @@ void ManualBulletShapeLoader::handleNode(btTriangleMesh* mesh, const Nif::Node *
         for(size_t i = 0;i < list.length();i++)
         {
             if(!list[i].empty())
-                handleNode(mesh, list[i].getPtr(), flags, isCollisionNode, raycasting, isMarker);
+                handleNode(list[i].getPtr(), flags, isCollisionNode, raycasting, isMarker, isAnimated);
         }
     }
 }
 
-void ManualBulletShapeLoader::handleNiTriShape(btTriangleMesh* mesh, const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform,
-                                               bool raycasting)
+void ManualBulletShapeLoader::handleNiTriShape(const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform,
+                                               bool raycasting, bool isAnimated)
 {
     assert(shape != NULL);
 
@@ -278,17 +287,64 @@ void ManualBulletShapeLoader::handleNiTriShape(btTriangleMesh* mesh, const Nif::
         // bother setting it up.
         return;
 
-    mHasShape = true;
+    if (!shape->skin.empty())
+        isAnimated = false;
 
-    const Nif::NiTriShapeData *data = shape->data.getPtr();
-    const std::vector<Ogre::Vector3> &vertices = data->vertices;
-    const short *triangles = &data->triangles[0];
-    for(size_t i = 0;i < data->triangles.size();i+=3)
+    if (isAnimated)
     {
-        Ogre::Vector3 b1 = transform*vertices[triangles[i+0]];
-        Ogre::Vector3 b2 = transform*vertices[triangles[i+1]];
-        Ogre::Vector3 b3 = transform*vertices[triangles[i+2]];
-        mesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
+        if (!mCompoundShape)
+            mCompoundShape = new btCompoundShape();
+
+        btTriangleMesh* childMesh = new btTriangleMesh();
+
+        const Nif::NiTriShapeData *data = shape->data.getPtr();
+
+        childMesh->preallocateVertices(data->vertices.size());
+        childMesh->preallocateIndices(data->triangles.size());
+
+        const std::vector<Ogre::Vector3> &vertices = data->vertices;
+        const std::vector<short> &triangles = data->triangles;
+
+        for(size_t i = 0;i < data->triangles.size();i+=3)
+        {
+            Ogre::Vector3 b1 = vertices[triangles[i+0]];
+            Ogre::Vector3 b2 = vertices[triangles[i+1]];
+            Ogre::Vector3 b3 = vertices[triangles[i+2]];
+            childMesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
+        }
+
+        TriangleMeshShape* childShape = new TriangleMeshShape(childMesh,true);
+
+        childShape->setLocalScaling(btVector3(transform[0][0], transform[1][1], transform[2][2]));
+
+        Ogre::Quaternion q = transform.extractQuaternion();
+        Ogre::Vector3 v = transform.getTrans();
+        btTransform trans(btQuaternion(q.x, q.y, q.z, q.w), btVector3(v.x, v.y, v.z));
+
+        if (raycasting)
+            mShape->mAnimatedRaycastingShapes.insert(std::make_pair(shape->name, mCompoundShape->getNumChildShapes()));
+        else
+            mShape->mAnimatedShapes.insert(std::make_pair(shape->name, mCompoundShape->getNumChildShapes()));
+
+        mCompoundShape->addChildShape(trans, childShape);
+    }
+    else
+    {
+        if (!mStaticMesh)
+            mStaticMesh = new btTriangleMesh();
+
+        // Static shape, just transform all vertices into position
+        const Nif::NiTriShapeData *data = shape->data.getPtr();
+        const std::vector<Ogre::Vector3> &vertices = data->vertices;
+        const std::vector<short> &triangles = data->triangles;
+
+        for(size_t i = 0;i < data->triangles.size();i+=3)
+        {
+            Ogre::Vector3 b1 = transform*vertices[triangles[i+0]];
+            Ogre::Vector3 b2 = transform*vertices[triangles[i+1]];
+            Ogre::Vector3 b3 = transform*vertices[triangles[i+2]];
+            mStaticMesh->addTriangle(btVector3(b1.x,b1.y,b1.z),btVector3(b2.x,b2.y,b2.z),btVector3(b3.x,b3.y,b3.z));
+        }
     }
 }
 

components/nifbullet/bulletnifloader.hpp

@@ -28,6 +28,7 @@
 #include <string>
 #include <BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h>
 #include <BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h>
+#include <BulletCollision/CollisionShapes/btCompoundShape.h>
 #include <btBulletDynamicsCommon.h>
 #include <openengine/bullet/BulletShapeLoader.h>
 
@@ -44,6 +45,22 @@ namespace Nif
 namespace NifBullet
 {
 
+// Subclass btBhvTriangleMeshShape to auto-delete the meshInterface
+struct TriangleMeshShape : public btBvhTriangleMeshShape
+{
+    TriangleMeshShape(btStridingMeshInterface* meshInterface, bool useQuantizedAabbCompression)
+        : btBvhTriangleMeshShape(meshInterface, useQuantizedAabbCompression)
+    {
+    }
+
+    virtual ~TriangleMeshShape()
+    {
+        delete getTriangleInfoMap();
+        delete m_meshInterface;
+    }
+};
+
+
 /**
 *Load bulletShape from NIF files.
 */
@@ -52,8 +69,9 @@ class ManualBulletShapeLoader : public OEngine::Physic::BulletShapeLoader
 public:
     ManualBulletShapeLoader()
       : mShape(NULL)
+      , mStaticMesh(NULL)
+      , mCompoundShape(NULL)
       , mBoundingBox(NULL)
-      , mHasShape(false)
     {
     }
 
@@ -88,7 +106,8 @@ private:
     /**
     *Parse a node.
     */
-    void handleNode(btTriangleMesh* mesh, Nif::Node const *node, int flags, bool isCollisionNode, bool raycasting, bool isMarker);
+    void handleNode(Nif::Node const *node, int flags, bool isCollisionNode,
+                    bool raycasting, bool isMarker, bool isAnimated=false);
 
     /**
     *Helper function
@@ -98,14 +117,17 @@ private:
     /**
     *convert a NiTriShape to a bullet trishape.
     */
-    void handleNiTriShape(btTriangleMesh* mesh, const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform, bool raycasting);
+    void handleNiTriShape(const Nif::NiTriShape *shape, int flags, const Ogre::Matrix4 &transform, bool raycasting, bool isAnimated);
 
     std::string mResourceName;
 
     OEngine::Physic::BulletShape* mShape;//current shape
-    btBoxShape *mBoundingBox;
 
-    bool mHasShape;
+    btCompoundShape* mCompoundShape;
+
+    btTriangleMesh* mStaticMesh;
+
+    btBoxShape *mBoundingBox;
 };
 
 

libs/openengine/bullet/BulletShapeLoader.cpp

@@ -42,7 +42,7 @@ void BulletShape::deleteShape(btCollisionShape* shape)
     {
         if(shape->isCompound())
         {
-            btCompoundShape* ms = static_cast<btCompoundShape*>(mCollisionShape);
+            btCompoundShape* ms = static_cast<btCompoundShape*>(shape);
             int a = ms->getNumChildShapes();
             for(int i=0; i <a;i++)
             {
@@ -51,13 +51,14 @@ void BulletShape::deleteShape(btCollisionShape* shape)
         }
         delete shape;
     }
-    shape = NULL;
 }
 
 void BulletShape::unloadImpl()
 {
     deleteShape(mCollisionShape);
     deleteShape(mRaycastingShape);
+    mCollisionShape = NULL;
+    mRaycastingShape = NULL;
 }
 
 //TODO:change this?

libs/openengine/bullet/BulletShapeLoader.h

@@ -30,6 +30,14 @@ public:
 
     virtual ~BulletShape();
 
+    // Stores animated collision shapes. If any collision nodes in the NIF are animated, then mCollisionShape
+    // will be a btCompoundShape (which consists of one or more child shapes).
+    // In this map, for each animated collision shape,
+    // we store the bone name mapped to the child index of the shape in the btCompoundShape.
+    std::map<std::string, int> mAnimatedShapes;
+
+    std::map<std::string, int> mAnimatedRaycastingShapes;
+
     btCollisionShape* mCollisionShape;
     btCollisionShape* mRaycastingShape;
 

libs/openengine/bullet/physic.cpp

@@ -11,6 +11,59 @@
 #include <boost/lexical_cast.hpp>
 #include <boost/format.hpp>
 
+namespace
+{
+
+// Create a copy of the given collision shape (responsibility of user to delete the returned shape).
+btCollisionShape *duplicateCollisionShape(btCollisionShape *shape)
+{
+    if(shape->isCompound())
+    {
+        btCompoundShape *comp = static_cast<btCompoundShape*>(shape);
+        btCompoundShape *newShape = new btCompoundShape;
+
+        int numShapes = comp->getNumChildShapes();
+        for(int i = 0;i < numShapes;i++)
+        {
+            btCollisionShape *child = duplicateCollisionShape(comp->getChildShape(i));
+            btTransform trans = comp->getChildTransform(i);
+            newShape->addChildShape(trans, child);
+        }
+
+        return newShape;
+    }
+
+    if(btBvhTriangleMeshShape *trishape = dynamic_cast<btBvhTriangleMeshShape*>(shape))
+    {
+        btTriangleMesh* oldMesh = dynamic_cast<btTriangleMesh*>(trishape->getMeshInterface());
+        btTriangleMesh* newMesh = new btTriangleMesh(*oldMesh);
+        NifBullet::TriangleMeshShape *newShape = new NifBullet::TriangleMeshShape(newMesh, true);
+
+        return newShape;
+    }
+
+    throw std::logic_error(std::string("Unhandled Bullet shape duplication: ")+shape->getName());
+}
+
+void deleteShape(btCollisionShape* shape)
+{
+    if(shape!=NULL)
+    {
+        if(shape->isCompound())
+        {
+            btCompoundShape* ms = static_cast<btCompoundShape*>(shape);
+            int a = ms->getNumChildShapes();
+            for(int i=0; i <a;i++)
+            {
+                deleteShape(ms->getChildShape(i));
+            }
+        }
+        delete shape;
+    }
+}
+
+}
+
 namespace OEngine {
 namespace Physic
 {
@@ -228,6 +281,11 @@ namespace Physic
 
     PhysicEngine::~PhysicEngine()
     {
+        for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedShapes.begin(); it != mAnimatedShapes.end(); ++it)
+            deleteShape(it->second.mCompound);
+        for (std::map<RigidBody*, AnimatedShapeInstance>::iterator it = mAnimatedRaycastingShapes.begin(); it != mAnimatedRaycastingShapes.end(); ++it)
+            deleteShape(it->second.mCompound);
+
         HeightFieldContainer::iterator hf_it = mHeightFieldMap.begin();
         for (; hf_it != mHeightFieldMap.end(); ++hf_it)
         {
@@ -386,17 +444,38 @@ namespace Physic
         if (!shape->mRaycastingShape && raycasting)
             return NULL;
 
-        if (!raycasting)
-            shape->mCollisionShape->setLocalScaling( btVector3(scale,scale,scale));
-        else
-            shape->mRaycastingShape->setLocalScaling( btVector3(scale,scale,scale));
+        btCollisionShape* collisionShape = raycasting ? shape->mRaycastingShape : shape->mCollisionShape;
+
+        // If this is an animated compound shape, we must duplicate it so we can animate
+        // multiple instances independently.
+        if (!raycasting && !shape->mAnimatedShapes.empty())
+            collisionShape = duplicateCollisionShape(collisionShape);
+        if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
+            collisionShape = duplicateCollisionShape(collisionShape);
+
+        collisionShape->setLocalScaling( btVector3(scale,scale,scale));
 
         //create the real body
         btRigidBody::btRigidBodyConstructionInfo CI = btRigidBody::btRigidBodyConstructionInfo
-                (0,0, raycasting ? shape->mRaycastingShape : shape->mCollisionShape);
+                (0,0, collisionShape);
         RigidBody* body = new RigidBody(CI,name);
         body->mPlaceable = placeable;
 
+        if (!raycasting && !shape->mAnimatedShapes.empty())
+        {
+            AnimatedShapeInstance instance;
+            instance.mAnimatedShapes = shape->mAnimatedShapes;
+            instance.mCompound = collisionShape;
+            mAnimatedShapes[body] = instance;
+        }
+        if (raycasting && !shape->mAnimatedRaycastingShapes.empty())
+        {
+            AnimatedShapeInstance instance;
+            instance.mAnimatedShapes = shape->mAnimatedRaycastingShapes;
+            instance.mCompound = collisionShape;
+            mAnimatedRaycastingShapes[body] = instance;
+        }
+
         if(scaledBoxTranslation != 0)
             *scaledBoxTranslation = shape->mBoxTranslation * scale;
         if(boxRotation != 0)
@@ -404,33 +483,20 @@ namespace Physic
 
         adjustRigidBody(body, position, rotation, shape->mBoxTranslation * scale, shape->mBoxRotation);
 
-        return body;
-
-    }
-
-    void PhysicEngine::addRigidBody(RigidBody* body, bool addToMap, RigidBody* raycastingBody)
-    {
-        if(!body && !raycastingBody)
-            return; // nothing to do
-
-        const std::string& name = (body ? body->mName : raycastingBody->mName);
-
-        if (body){
+        if (!raycasting)
+        {
+            assert (mCollisionObjectMap.find(name) == mCollisionObjectMap.end());
+            mCollisionObjectMap[name] = body;
             mDynamicsWorld->addRigidBody(body,CollisionType_World,CollisionType_World|CollisionType_Actor|CollisionType_HeightMap);
         }
-
-        if (raycastingBody)
-            mDynamicsWorld->addRigidBody(raycastingBody,CollisionType_Raycasting,CollisionType_Raycasting);
-
-        if(addToMap){
-            removeRigidBody(name);
-            deleteRigidBody(name);
-
-            if (body)
-                mCollisionObjectMap[name] = body;
-            if (raycastingBody)
-                mRaycastingObjectMap[name] = raycastingBody;
+        else
+        {
+            assert (mRaycastingObjectMap.find(name) == mRaycastingObjectMap.end());
+            mRaycastingObjectMap[name] = body;
+            mDynamicsWorld->addRigidBody(body,CollisionType_Raycasting,CollisionType_Raycasting);
         }
+
+        return body;
     }
 
     void PhysicEngine::removeRigidBody(const std::string &name)
@@ -464,6 +530,10 @@ namespace Physic
 
             if(body != NULL)
             {
+                if (mAnimatedShapes.find(body) != mAnimatedShapes.end())
+                    deleteShape(mAnimatedShapes[body].mCompound);
+                mAnimatedShapes.erase(body);
+
                 delete body;
             }
             mCollisionObjectMap.erase(it);
@@ -475,6 +545,10 @@ namespace Physic
 
             if(body != NULL)
             {
+                if (mAnimatedRaycastingShapes.find(body) != mAnimatedRaycastingShapes.end())
+                    deleteShape(mAnimatedRaycastingShapes[body].mCompound);
+                mAnimatedRaycastingShapes.erase(body);
+
                 delete body;
             }
             mRaycastingObjectMap.erase(it);
@@ -609,7 +683,6 @@ namespace Physic
         return std::make_pair(callback.mObject, callback.mContactPoint);
     }
 
-
     void PhysicEngine::stepSimulation(double deltaT)
     {
         // This seems to be needed for character controller objects
@@ -629,8 +702,6 @@ namespace Physic
 
         PhysicActor* newActor = new PhysicActor(name, mesh, this, position, rotation, scale);
 
-
-        //dynamicsWorld->addAction( newActor->mCharacter );
         mActorMap[name] = newActor;
     }
 
@@ -642,7 +713,6 @@ namespace Physic
             PhysicActor* act = it->second;
             if(act != NULL)
             {
-
                 delete act;
             }
             mActorMap.erase(it);

libs/openengine/bullet/physic.hpp

@@ -117,7 +117,7 @@ namespace Physic
         const Ogre::Vector3& getPosition() const;
 
         /**
-         * Returns the half extents for this PhysiActor
+         * Returns the (scaled) half extents
          */
         Ogre::Vector3 getHalfExtents() const;
 
@@ -178,6 +178,14 @@ namespace Physic
         RigidBody* mBody;
     };
 
+    struct AnimatedShapeInstance
+    {
+        btCollisionShape* mCompound;
+
+        // Maps bone name to child index in the compound shape
+        std::map<std::string, int> mAnimatedShapes;
+    };
+
     /**
      * The PhysicEngine class contain everything which is needed for Physic.
      * It's needed that Ogre Resources are set up before the PhysicEngine is created.
@@ -228,11 +236,6 @@ namespace Physic
          */
         void removeHeightField(int x, int y);
 
-        /**
-         * Add a RigidBody to the simulation
-         */
-        void addRigidBody(RigidBody* body, bool addToMap = true, RigidBody* raycastingBody = NULL);
-
         /**
          * Remove a RigidBody from the simulation. It does not delete it, and does not remove it from the RigidBodyMap.
          */
@@ -335,8 +338,14 @@ namespace Physic
         typedef std::map<std::string,RigidBody*> RigidBodyContainer;
         RigidBodyContainer mCollisionObjectMap;
 
+        // Compound shapes that must be animated each frame based on bone positions
+        // the index refers to an element in mCollisionObjectMap
+        std::map<RigidBody*, AnimatedShapeInstance > mAnimatedShapes;
+
         RigidBodyContainer mRaycastingObjectMap;
 
+        std::map<RigidBody*, AnimatedShapeInstance > mAnimatedRaycastingShapes;
+
         typedef std::map<std::string, PhysicActor*>  PhysicActorContainer;
         PhysicActorContainer mActorMap;