Lazy WE :

Small tweaks in the BtPhysTest demo.
Added Ghost Object skeleton (not tested)

test/BtPhysTest.cpp

@@ -96,6 +96,23 @@ BtPhysTest::BtPhysTest(bool editor)
 		m_ground_list << NewPhyobj;
 	}
 
+	{
+		quat NewRotation = quat(1.f);
+		vec3 NewPosition = pos_offset + vec3(5.0f, -20.0f, -15.0f);
+
+		PhysicsObject* NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 0);
+
+		m_platform_list << NewPhyobj;
+		Ticker::Ref(NewPhyobj);
+
+		NewPosition = pos_offset + vec3(-20.0f, -25.0f, 5.0f);
+
+		NewPhyobj = new PhysicsObject(m_simulation, NewPosition, NewRotation, 0);
+
+		m_platform_list << NewPhyobj;
+		Ticker::Ref(NewPhyobj);
+	}
+
 	if (1)
 	{
 		for (int x=0; x < 6; x++)
@@ -324,7 +341,7 @@ void BtPhysTest::TickGame(float seconds)
 			PhysObj->SetRender(true);
 	}
 
-	if (1)
+	if (0)
 	{
 		for (int i = 0; i < m_ground_list.Count(); i++)
 		{
@@ -340,6 +357,27 @@ void BtPhysTest::TickGame(float seconds)
 		}
 	}
 
+	{
+		for (int i = 0; i < m_platform_list.Count(); i++)
+		{
+			PhysicsObject* PhysObj = m_platform_list[i];
+
+			mat4 GroundMat = PhysObj->GetTransform();
+			if (i == 0)
+			{
+				GroundMat = GroundMat * mat4(quat::fromeuler_xyz(vec3(20.f, .0f, .0f) * seconds));
+				PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
+			}
+			else
+			{
+				GroundMat = GroundMat * mat4::translate(vec3(.0f, .0f, 10.0f) * seconds);
+				if (GroundMat.v3.z > 40.0f)
+					GroundMat = GroundMat * mat4::translate(vec3(.0f, .0f, -80.0f));
+				PhysObj->SetTransform(GroundMat.v3.xyz, quat(GroundMat));
+			}
+		}
+	}
+
 	PhysObjBarycenter = vec3(.0f);
 	for (int i = 0; i < m_physobj_list.Count(); i++)
 	{
@@ -447,6 +485,13 @@ BtPhysTest::~BtPhysTest()
 		CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
 		Ticker::Unref(CurPop);
 	}
+	while (m_platform_list.Count())
+	{
+		PhysicsObject* CurPop = m_platform_list.Last();
+		m_platform_list.Pop();
+		CurPop->GetPhysic()->RemoveFromSimulation(m_simulation);
+		Ticker::Unref(CurPop);
+	}
 	while (m_physobj_list.Count())
 	{
 		PhysicsObject* CurPop = m_physobj_list.Last();

test/BtPhysTest.h

@@ -28,6 +28,7 @@ private:
 	Array<EasyConstraint*>				m_constraint_list;
 	Array<PhysicsObject*>				m_physobj_list;
 	Array<PhysicsObject*>				m_ground_list;
+	Array<PhysicsObject*>				m_platform_list;
 
 #if 0
 	EasyMesh							m_ground_mesh;

test/PhysicObject.h

@@ -34,6 +34,19 @@ public:
 		m_physics.AddToSimulation(new_sim);
 	}
 
+	PhysicsObject(Simulation* new_sim, const vec3 &base_location, const quat &base_rotation, int dummy)
+		: m_ready(false), m_should_render(true)
+	{
+		m_mesh.Compile("[sc#ddd afcb20 1 20 -.1]");
+		vec3 BoxSize = vec3(20.f, 1.f, 20.f);
+		m_physics.SetCollisionChannel(0, 0xFF);
+		m_physics.SetShapeToBox(BoxSize);
+		m_physics.SetMass(.0f);
+		m_physics.SetTransform(base_location, base_rotation);
+		m_physics.InitBodyToRigid(true);
+		m_physics.AddToSimulation(new_sim);
+	}
+
 	PhysicsObject(Simulation* new_sim, float base_mass, const vec3 &base_location, int RandValue = -1)
 		: m_ready(false), m_should_render(true)
 	{

test/Physics/EasyPhysics.cpp

@@ -32,6 +32,7 @@ namespace phys
 EasyPhysic::EasyPhysic() : 
 	m_collision_object(NULL),
 	m_rigid_body(NULL),
+	m_ghost_object(NULL),
 	m_collision_shape(NULL),
 	m_motion_state(NULL),
 	m_mass(.0f),
@@ -106,10 +107,15 @@ void EasyPhysic::SetShapeToCapsule(float radius, float height)
 //--
 void EasyPhysic::SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation)
 {
-	if (m_motion_state)
-		m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
+	if (m_ghost_object)
+		m_ghost_object->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
 	else
-		m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
+	{
+		if (m_motion_state)
+			m_motion_state->setWorldTransform(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
+		else
+			m_motion_state = new btDefaultMotionState(btTransform(LOL2BT_QUAT(base_rotation), LOL2BT_VEC3(base_location * LOL2BT_UNIT)));
+	}
 }
 
 //-------------------------------------------------------------------------
@@ -137,7 +143,6 @@ void EasyPhysic::InitBodyToRigid(bool SetToKinematic)
 	if (m_collision_object)
 		delete m_collision_object;
 
-	SetLocalInertia(m_mass);
 	if (!m_motion_state)
 		SetTransform(vec3(.0f));
 
@@ -152,12 +157,34 @@ void EasyPhysic::InitBodyToRigid(bool SetToKinematic)
 	}
 }
 
+//Init to Ghost object, for Overlap/Sweep Test/Touching logic
+void EasyPhysic::InitBodyToGhost()
+{
+	if (m_collision_object)
+		delete m_collision_object;
+
+	m_ghost_object = new btGhostObject();
+	m_ghost_object->setCollisionShape(m_collision_shape);
+	m_collision_object = m_ghost_object;
+
+	SetTransform(vec3(.0f));
+
+	m_ghost_object->setCollisionFlags(m_ghost_object->getCollisionFlags());
+	//btCollisionObject::CF_CHARACTER_OBJECT
+}
+
+//Add Physic object to the simulation
 void EasyPhysic::AddToSimulation(class Simulation* current_simulation)
 {
 	btDiscreteDynamicsWorld* dynamics_world = current_simulation->GetWorld();
 	if (dynamics_world)
 	{
-		if (m_rigid_body)
+		if (m_ghost_object)
+		{
+			dynamics_world->addCollisionObject(m_ghost_object, m_collision_group, m_collision_mask);
+			current_simulation->AddToGhost(this);
+		}
+		else if (m_rigid_body)
 		{
 			dynamics_world->addRigidBody(m_rigid_body, m_collision_group, m_collision_mask);
 			if (m_mass != .0f)

test/Physics/EasyPhysics.h

@@ -21,6 +21,7 @@
 #include "core.h"
 #include <bullet/btBulletDynamicsCommon.h>
 #include <bullet/btBulletCollisionCommon.h>
+#include <bullet/BulletCollision/CollisionDispatch/btGhostObject.h>
 #endif
 
 namespace lol
@@ -50,6 +51,7 @@ public:
 	void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f)));
 	void SetMass(float mass);
 	void InitBodyToRigid(bool ZeroMassIsKinematic=false);
+	void InitBodyToGhost();
 	void AddToSimulation(class Simulation* current_simulation);
 	void RemoveFromSimulation(class Simulation* current_simulation);
 	mat4 GetTransform();
@@ -60,6 +62,8 @@ protected:
 
 	btCollisionObject*							m_collision_object;
 
+	btGhostObject*								m_ghost_object;
+
 	btRigidBody*								m_rigid_body;
 	btVector3									m_local_inertia;
 
@@ -81,6 +85,7 @@ public:
 	void SetTransform(const lol::vec3& base_location, const lol::quat& base_rotation=lol::quat(lol::mat4(1.0f))) { }
 	void SetMass(float mass) { }
 	void InitBodyToRigid() { }
+	void InitBodyToGhost() { }
 	void AddToSimulation(class Simulation* current_simulation) { }
 	void RemoveFromSimulation(class Simulation* current_simulation) { }
 	mat4 GetTransform() { return mat4(1.0f); }

test/Physics/LolPhysics.h

@@ -159,11 +159,13 @@ private:
 	//Adds the given EasyPhysic to the correct list.
 	void AddToDynamic(EasyPhysic* NewEPDynamic)	{ m_dynamic_list << NewEPDynamic; }
 	void AddToStatic(EasyPhysic* NewEPStatic)	{ m_static_list	<< NewEPStatic; }
+	void AddToGhost(EasyPhysic* NewEPGhost)		{ m_ghost_list << NewEPGhost; }
 	void AddToConstraint(EasyConstraint* NewEC)	{ m_constraint_list	<< NewEC; }
 
 	//Easy Physics body List
 	Array<EasyPhysic*>						m_dynamic_list;
 	Array<EasyPhysic*>						m_static_list;
+	Array<EasyPhysic*>						m_ghost_list;
 	Array<EasyConstraint*>					m_constraint_list;
 
 	//Easy Physics data storage