Add initial prototype.
This commit is contained in:
Rod Kay
@@ -0,0 +1,949 @@
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with
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bullet_c.Binding,
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bullet_physics.Object,
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c_math_c.Vector_3,
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c_math_c.Matrix_4x4,
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c_math_c.Conversion,
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Swig,
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interfaces.C,
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ada.unchecked_Conversion,
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ada.unchecked_Deallocation,
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ada.Text_IO;
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package body bullet_Physics.Joint
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is
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use c_math_c.Conversion,
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bullet_c.Binding,
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Interfaces,
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ada.Text_IO;
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type Any_limited_view is access all lace.Any.limited_item'Class;
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function to_Any_view is new ada.unchecked_Conversion (Swig.void_ptr, Any_limited_view);
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function to_Object_view is new ada.unchecked_Conversion (swig.void_ptr, physics.Object.view);
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pragma Unreferenced (to_Object_view);
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--------------
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-- Joint.item
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--
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overriding
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function reaction_Force (Self : in Item) return Vector_3
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is
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begin
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raise Error with "TODO";
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return math.Origin_3D;
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end reaction_Force;
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overriding
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function reaction_Torque (Self : in Item) return Real
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is
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begin
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raise Error with "TODO";
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return 0.0;
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end reaction_Torque;
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overriding
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procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class)
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is
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begin
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Self.user_Data := Now;
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end user_Data_is;
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overriding
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function user_Data (Self : in Item) return access lace.Any.limited_item'Class
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is
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begin
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return Self.user_Data;
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end user_Data;
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--------
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-- DoF6
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--
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function new_Dof6_Joint (Object_A, Object_B : in physics.Object.view;
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Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view
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is
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Self : constant DoF6_view := new DoF6;
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c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
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c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
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c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
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c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
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begin
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Self.C := b3d_new_DoF6_Joint (c_Object_A,
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c_Object_B,
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c_Frame_A'unchecked_Access,
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c_Frame_B'unchecked_Access);
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return Self;
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end new_Dof6_Joint;
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overriding
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procedure destruct (Self : in out DoF6)
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is
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begin
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raise Error with "TODO";
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end destruct;
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overriding
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function Object_A (Self : in DoF6) return physics.Object.view
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is
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c_Object_A : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_A (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
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end Object_A;
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overriding
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function Object_B (Self : in DoF6) return physics.Object.view
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is
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c_Object_B : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_B (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
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end Object_B;
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overriding
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function Frame_A (Self : in DoF6) return Matrix_4x4
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is
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begin
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return +b3d_Joint_Frame_A (Self.C);
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end Frame_A;
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overriding
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function Frame_B (Self : in DoF6) return Matrix_4x4
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is
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begin
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return +b3d_Joint_Frame_B (Self.C);
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end Frame_B;
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overriding
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procedure Frame_A_is (Self : in out DoF6; Now : in Matrix_4x4)
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is
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c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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begin
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b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
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end Frame_A_is;
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overriding
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procedure Frame_B_is (Self : in out DoF6; Now : in Matrix_4x4)
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is
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c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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begin
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b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
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end Frame_B_is;
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overriding
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function is_Limited (Self : in DoF6; DoF : in Degree_of_freedom) return Boolean
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is
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use type Swig.bool;
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begin
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return b3d_Joint_is_Limited (Self.C,
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Degree_of_freedom'Pos (DoF)) /= 0;
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end is_Limited;
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overriding
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procedure Velocity_is (Self : in out DoF6; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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if DoF < 4 then
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raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
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end if;
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b3d_Joint_Velocity_is (Self.C, C.int (DoF),
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c_math_c.Real (Now));
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end Velocity_is;
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overriding
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function Extent (Self : in DoF6; DoF : Degree_of_freedom) return Real
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is
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begin
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if DoF < 4 then
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raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
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end if;
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return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
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end Extent;
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overriding
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procedure desired_Extent_is (Self : in out DoF6; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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raise Error with "TODO";
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end desired_Extent_is;
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overriding
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function lower_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real
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is
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begin
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return Real (b3d_Joint_6DoF_lower_Limit (Self.C, C.int (DoF)));
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end lower_Limit;
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overriding
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function upper_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real
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is
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begin
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return Real (b3d_Joint_6DoF_upper_Limit (Self.C, C.int (DoF)));
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end upper_Limit;
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overriding
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procedure lower_Limit_is (Self : in out DoF6; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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b3d_Joint_6DoF_lower_Limit_is (Self.C, C.int (DoF),
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c_math_c.Real (Now));
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end lower_Limit_is;
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overriding
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procedure upper_Limit_is (Self : in out DoF6; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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b3d_Joint_6DoF_upper_Limit_is (Self.C, C.int (DoF),
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c_math_c.Real (Now));
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end upper_Limit_is;
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--------
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-- Ball
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--
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function new_Ball_Joint (Object_A, Object_B : in physics.Object.view;
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Pivot_in_A, Pivot_in_B : in Vector_3) return physics.Joint.ball.view
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is
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Self : constant Ball_view := new Ball;
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c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
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c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
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c_Pivot_in_A : aliased c_math_c.Vector_3.item := +Pivot_in_A;
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c_Pivot_in_B : aliased c_math_c.Vector_3.item := +Pivot_in_B;
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begin
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Self.C := b3d_new_ball_Joint (c_Object_A,
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c_Object_B,
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c_Pivot_in_A'unchecked_Access,
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c_Pivot_in_B'unchecked_Access);
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return Self;
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end new_Ball_Joint;
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overriding
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procedure destruct (Self : in out Ball)
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is
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begin
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raise Error with "TODO";
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end destruct;
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overriding
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function Object_A (Self : in Ball) return physics.Object.view
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is
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c_Object_A : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_A (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
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end Object_A;
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overriding
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function Object_B (Self : in Ball) return physics.Object.view
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is
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c_Object_B : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_B (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
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end Object_B;
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overriding
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function Frame_A (Self : in Ball) return Matrix_4x4
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is
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begin
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return +b3d_Joint_Frame_A (Self.C);
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end Frame_A;
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overriding
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function Frame_B (Self : in Ball) return Matrix_4x4
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is
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begin
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return +b3d_Joint_Frame_B (Self.C);
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end Frame_B;
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overriding
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procedure Frame_A_is (Self : in out Ball; Now : in Matrix_4x4)
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is
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c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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begin
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b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
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end Frame_A_is;
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overriding
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procedure Frame_B_is (Self : in out Ball; Now : in Matrix_4x4)
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is
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c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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begin
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b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
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end Frame_B_is;
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overriding
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function is_Limited (Self : in Ball; DoF : in Degree_of_freedom) return Boolean
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is
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use type Swig.bool;
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begin
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return b3d_Joint_is_Limited (Self.C,
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Degree_of_freedom'Pos (DoF)) /= 0;
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end is_Limited;
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overriding
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procedure Velocity_is (Self : in out Ball; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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if DoF < 4 then
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raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
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end if;
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b3d_Joint_Velocity_is (Self.C, C.int (Now),
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c_math_c.Real (DoF));
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end Velocity_is;
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overriding
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function Extent (Self : in Ball; DoF : in Degree_of_freedom) return Real
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is
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begin
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if DoF < 4 then
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raise Program_Error with "Illegal degree of freedom:" & DoF'Image & ".";
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end if;
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return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
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end Extent;
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overriding
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procedure desired_Extent_is (Self : in out Ball; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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raise Error with "TODO";
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end desired_Extent_is;
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overriding
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function lower_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real
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is
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begin
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raise Error with "TODO";
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return 0.0;
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end lower_Limit;
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overriding
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function upper_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real
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is
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begin
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raise Error with "TODO";
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return 0.0;
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end upper_Limit;
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overriding
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procedure lower_Limit_is (Self : in out Ball; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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raise Error with "TODO";
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end lower_Limit_is;
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overriding
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procedure upper_Limit_is (Self : in out Ball; Now : in Real;
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DoF : in Degree_of_freedom)
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is
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begin
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raise Error with "TODO";
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end upper_Limit_is;
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----------
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-- Slider
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--
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function new_Slider_Joint (Object_A, Object_B : in physics.Object.view;
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Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.slider.view
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is
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Self : constant Slider_view := new Slider;
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c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
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c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
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c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
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c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
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begin
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Self.C := b3d_new_slider_Joint (c_Object_A,
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c_Object_B,
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c_Frame_A'Unchecked_Access,
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c_Frame_B'Unchecked_Access);
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return Self;
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end new_Slider_Joint;
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overriding
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procedure destruct (Self : in out Slider)
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is
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begin
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raise Error with "TODO";
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end destruct;
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overriding
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function Object_A (Self : in Slider) return physics.Object.view
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is
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c_Object_A : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_A (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
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end Object_A;
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||||
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overriding
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function Object_B (Self : in Slider) return physics.Object.view
|
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is
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c_Object_B : constant bullet_c.Pointers.Object_Pointer := b3d_Joint_Object_B (Self.C);
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begin
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return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
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end Object_B;
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||||
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overriding
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function Frame_A (Self : in Slider) return Matrix_4x4
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is
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begin
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return +b3d_Joint_Frame_A (Self.C);
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end Frame_A;
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||||
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overriding
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function Frame_B (Self : in Slider) return Matrix_4x4
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is
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||||
begin
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return +b3d_Joint_Frame_B (Self.C);
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end Frame_B;
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||||
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||||
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||||
overriding
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||||
procedure Frame_A_is (Self : in out Slider; Now : in Matrix_4x4)
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||||
is
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||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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||||
begin
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b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
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||||
end Frame_A_is;
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||||
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||||
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overriding
|
||||
procedure Frame_B_is (Self : in out Slider; Now : in Matrix_4x4)
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||||
is
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c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
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||||
begin
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b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
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end Frame_B_is;
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||||
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||||
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overriding
|
||||
function is_Limited (Self : in Slider; DoF : in Degree_of_freedom) return Boolean
|
||||
is
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||||
use type Swig.bool;
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||||
begin
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||||
return b3d_Joint_is_Limited (Self.C,
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||||
Degree_of_freedom'Pos (DoF)) /= 0;
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end is_Limited;
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||||
|
||||
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||||
overriding
|
||||
procedure Velocity_is (Self : in out Slider; Now : in Real;
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||||
DoF : in Degree_of_freedom)
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||||
is
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||||
begin
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||||
if DoF < 4 then
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||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
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||||
end if;
|
||||
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b3d_Joint_Velocity_is (Self.C, C.int (Now),
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||||
c_math_c.Real (DoF));
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||||
end Velocity_is;
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||||
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||||
|
||||
overriding
|
||||
function Extent (Self : in Slider; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
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||||
if DoF < 4 then
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||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
--------------
|
||||
-- cone_Twist
|
||||
--
|
||||
|
||||
function new_cone_Twist_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view
|
||||
is
|
||||
Self : constant cone_Twist_view := new cone_Twist;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Object_B : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_B).C;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
begin
|
||||
Self.C := b3d_new_DoF6_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'unchecked_Access,
|
||||
c_Frame_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_cone_Twist_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out cone_Twist)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in cone_Twist) return physics.Object.view
|
||||
is
|
||||
c_Object_A : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_A (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_A)));
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in cone_Twist) return physics.Object.view
|
||||
is
|
||||
c_Object_B : constant bullet_c.Pointers.Object_pointer := b3d_Joint_Object_B (Self.C);
|
||||
begin
|
||||
return physics.Object.view (to_Any_view (b3d_Object_user_Data (c_Object_B)));
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in cone_Twist) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_A (Self.C);
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in cone_Twist) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return +b3d_Joint_Frame_B (Self.C);
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out cone_Twist; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_A_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out cone_Twist; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Joint_Frame_B_is (Self.C, c_Now'unchecked_Access);
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in cone_Twist; DoF : Degree_of_freedom) return Boolean
|
||||
is
|
||||
use type Swig.bool;
|
||||
begin
|
||||
return b3d_Joint_is_Limited (Self.C,
|
||||
Degree_of_freedom'Pos (DoF)) /= 0;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
b3d_Joint_Velocity_is (Self.C, C.int (Now),
|
||||
c_math_c.Real (DoF));
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in cone_Twist; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
if DoF < 4 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return Real (b3d_Joint_Extent (Self.C, C.int (DoF)));
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end lower_Limit_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end upper_Limit_is;
|
||||
|
||||
|
||||
---------
|
||||
-- Hinge
|
||||
--
|
||||
|
||||
function new_hinge_Joint (Object_A : in physics.Object.view;
|
||||
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view
|
||||
is
|
||||
use type bullet_physics.Object.view;
|
||||
|
||||
Self : constant Hinge_view := new Hinge;
|
||||
|
||||
c_Object_A : constant bullet_C.Pointers.Object_Pointer := bullet_physics.Object.view (Object_A).C;
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
|
||||
begin
|
||||
Self.C := b3d_new_space_hinge_Joint (c_Object_A,
|
||||
c_Frame_A'unchecked_Access);
|
||||
return Self;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Hinge)
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
begin
|
||||
put_Line ("bullet_physics-joint.adb => raise Program_Error with ""TBD"";");
|
||||
raise Error with "TODO";
|
||||
end destruct;
|
||||
|
||||
|
||||
function new_hinge_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.hinge.view
|
||||
is
|
||||
use type bullet_physics.Object.view;
|
||||
|
||||
Self : constant Hinge_view := new Hinge;
|
||||
|
||||
c_Object_A : bullet_C.Pointers.Object_Pointer;
|
||||
c_Object_B : bullet_C.Pointers.Object_Pointer;
|
||||
|
||||
c_Frame_A : aliased c_math_c.Matrix_4x4.item := +Frame_A;
|
||||
c_Frame_B : aliased c_math_c.Matrix_4x4.item := +Frame_B;
|
||||
|
||||
begin
|
||||
if bullet_physics.Object.view (Object_A) /= null
|
||||
then
|
||||
c_Object_A := bullet_physics.Object.view (Object_A).C;
|
||||
end if;
|
||||
|
||||
if bullet_physics.Object.view (Object_B) /= null
|
||||
then
|
||||
c_Object_B := bullet_physics.Object.view (Object_B).C;
|
||||
end if;
|
||||
|
||||
Self.C := b3d_new_hinge_Joint (c_Object_A,
|
||||
c_Object_B,
|
||||
c_Frame_A'unchecked_Access,
|
||||
c_Frame_B'unchecked_Access);
|
||||
return Self;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Limits_are (Self : in out Hinge; Low, High : in Real;
|
||||
Softness : in Real := 0.9;
|
||||
biasFactor : in Real := 0.3;
|
||||
relaxationFactor : in Real := 1.0)
|
||||
is
|
||||
begin
|
||||
b3d_Joint_hinge_Limits_are (Self.C,
|
||||
c_Math_c.Real (Low),
|
||||
c_Math_c.Real (High),
|
||||
c_Math_c.Real (Softness),
|
||||
c_Math_c.Real (biasFactor),
|
||||
c_Math_c.Real (relaxationFactor));
|
||||
end Limits_are;
|
||||
|
||||
|
||||
overriding
|
||||
function lower_Limit (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end lower_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function upper_Limit (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end upper_Limit;
|
||||
|
||||
|
||||
overriding
|
||||
function Angle (Self : in Hinge) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end Angle;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Hinge) return physics.Object.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end Object_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Object_B (Self : in Hinge) return physics.Object.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end Object_B;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Hinge) return Matrix_4x4
|
||||
is
|
||||
c_Frame : aliased c_math_c.Matrix_4x4.item;
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return +c_Frame;
|
||||
end Frame_A;
|
||||
|
||||
|
||||
overriding
|
||||
function Frame_B (Self : in Hinge) return Matrix_4x4
|
||||
is
|
||||
c_Frame : aliased c_math_c.Matrix_4x4.item;
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return +c_Frame;
|
||||
end Frame_B;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Hinge; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Frame : aliased constant c_math_c.Matrix_4x4.item := +Now;
|
||||
pragma Unreferenced (c_Frame);
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end Frame_A_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Hinge; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Frame : aliased constant c_math_c.Matrix_4x4.item := +Now;
|
||||
pragma Unreferenced (c_Frame);
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end Frame_B_is;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Hinge; DoF : Degree_of_freedom) return Boolean
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
begin
|
||||
return DoF = 1;
|
||||
end is_Limited;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
|
||||
if DoF /= 1 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
end Velocity_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Extent (Self : in Hinge; DoF : Degree_of_freedom) return Real
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
|
||||
if DoF /= 1 then
|
||||
raise Error with "Illegal degree of freedom:" & DoF'Image & ".";
|
||||
end if;
|
||||
|
||||
return 0.0;
|
||||
end Extent;
|
||||
|
||||
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end desired_Extent_is;
|
||||
|
||||
|
||||
--------
|
||||
--- Free
|
||||
--
|
||||
|
||||
procedure free (the_Joint : in out physics.Joint.view)
|
||||
is
|
||||
procedure deallocate is new ada.unchecked_Deallocation (physics.Joint.item'Class,
|
||||
physics.Joint.view);
|
||||
begin
|
||||
deallocate (the_Joint);
|
||||
end free;
|
||||
|
||||
|
||||
end bullet_Physics.Joint;
|
||||
@@ -0,0 +1,333 @@
|
||||
with
|
||||
physics.Joint.DoF6,
|
||||
physics.Joint.cone_twist,
|
||||
physics.Joint.slider,
|
||||
physics.Joint.hinge,
|
||||
physics.Joint.ball,
|
||||
physics.Object,
|
||||
|
||||
bullet_C.Pointers,
|
||||
|
||||
lace.Any;
|
||||
|
||||
package bullet_Physics.Joint
|
||||
--
|
||||
-- Provides glue between a physics joint and a Bullet3D joint.
|
||||
--
|
||||
is
|
||||
type Item is abstract limited new physics.Joint.item with
|
||||
record
|
||||
C : bullet_c.Pointers.Joint_pointer;
|
||||
user_Data : access lace.Any.limited_item'Class;
|
||||
end record;
|
||||
|
||||
type View is access all Item'Class;
|
||||
|
||||
|
||||
---------
|
||||
--- Forge
|
||||
--
|
||||
|
||||
use Math;
|
||||
|
||||
function new_Dof6_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view;
|
||||
|
||||
function new_ball_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Pivot_in_A, Pivot_in_B : in Vector_3) return physics.Joint.ball.view;
|
||||
|
||||
function new_slider_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.slider.view;
|
||||
|
||||
function new_cone_twist_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view;
|
||||
|
||||
function new_hinge_Joint (Object_A, Object_B : in physics.Object.view;
|
||||
Frame_A, Frame_B : in Matrix_4x4) return physics.Joint.hinge.view;
|
||||
|
||||
function new_hinge_Joint (Object_A : in physics.Object.view;
|
||||
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view;
|
||||
|
||||
procedure free (the_Joint : in out physics.Joint.view);
|
||||
|
||||
|
||||
|
||||
private
|
||||
|
||||
use physics.Joint;
|
||||
|
||||
overriding
|
||||
function reaction_Force (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
function reaction_Torque (Self : in Item) return Real;
|
||||
|
||||
overriding
|
||||
procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class);
|
||||
overriding
|
||||
function user_Data (Self : in Item) return access lace.Any.limited_item'Class;
|
||||
|
||||
|
||||
--------
|
||||
-- DoF6
|
||||
--
|
||||
type DoF6 is new Item
|
||||
and physics.Joint.DoF6.item with
|
||||
record
|
||||
null;
|
||||
end record;
|
||||
|
||||
type DoF6_view is access DoF6
|
||||
;
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out DoF6);
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in DoF6) return physics.Object.view;
|
||||
overriding
|
||||
function Object_B (Self : in DoF6) return physics.Object.view;
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in DoF6) return Matrix_4x4;
|
||||
overriding
|
||||
function Frame_B (Self : in DoF6) return Matrix_4x4;
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out DoF6; Now : in Matrix_4x4);
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out DoF6; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in DoF6; DoF : in Degree_of_freedom) return Boolean;
|
||||
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function Extent (Self : in DoF6; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function lower_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
function upper_Limit (Self : in DoF6; DoF : in Degree_of_freedom) return Real;
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out DoF6; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
|
||||
----------
|
||||
-- Slider
|
||||
--
|
||||
type Slider is new Item
|
||||
and physics.Joint.Slider.item with
|
||||
record
|
||||
null;
|
||||
end record;
|
||||
|
||||
type Slider_view is access Slider;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Slider);
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Slider) return physics.Object.view;
|
||||
overriding
|
||||
function Object_B (Self : in Slider) return physics.Object.view;
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Slider) return Matrix_4x4;
|
||||
overriding
|
||||
function Frame_B (Self : in Slider) return Matrix_4x4;
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Slider; Now : in Matrix_4x4);
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Slider; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Slider; DoF : in Degree_of_freedom) return Boolean;
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function Extent (Self : in Slider; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function lower_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
function upper_Limit (Self : in Slider; DoF : in Degree_of_freedom) return Real;
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out Slider; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
|
||||
--------------
|
||||
-- cone_Twist
|
||||
--
|
||||
type cone_Twist is new Item
|
||||
and physics.Joint.cone_Twist.item with
|
||||
record
|
||||
null;
|
||||
end record;
|
||||
|
||||
type cone_Twist_view is access cone_Twist;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out cone_Twist);
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in cone_Twist) return physics.Object.view;
|
||||
overriding
|
||||
function Object_B (Self : in cone_Twist) return physics.Object.view;
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in cone_Twist) return Matrix_4x4;
|
||||
overriding
|
||||
function Frame_B (Self : in cone_Twist) return Matrix_4x4;
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out cone_Twist; Now : in Matrix_4x4);
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out cone_Twist; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in cone_Twist; DoF : in Degree_of_freedom) return Boolean;
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function Extent (Self : in cone_Twist; DoF : Degree_of_freedom) return Real;
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function lower_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
function upper_Limit (Self : in cone_Twist; DoF : in Degree_of_freedom) return Real;
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out cone_Twist; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
|
||||
--------
|
||||
-- Ball
|
||||
--
|
||||
type Ball is new Item
|
||||
and physics.Joint.Ball.item with
|
||||
record
|
||||
null;
|
||||
end record;
|
||||
|
||||
type Ball_view is access Ball;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Ball);
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Ball) return physics.Object.view;
|
||||
overriding
|
||||
function Object_B (Self : in Ball) return physics.Object.view;
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Ball) return Matrix_4x4;
|
||||
overriding
|
||||
function Frame_B (Self : in Ball) return Matrix_4x4;
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Ball; Now : in Matrix_4x4);
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Ball; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Ball; DoF : in Degree_of_freedom) return Boolean;
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function Extent (Self : in Ball; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function lower_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
function upper_Limit (Self : in Ball; DoF : in Degree_of_freedom) return Real;
|
||||
|
||||
overriding
|
||||
procedure lower_Limit_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
procedure upper_Limit_is (Self : in out Ball; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
|
||||
---------
|
||||
-- Hinge
|
||||
--
|
||||
type Hinge is new Item
|
||||
and physics.Joint.Hinge.item with
|
||||
record
|
||||
null;
|
||||
end record;
|
||||
|
||||
type Hinge_view is access Hinge;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Hinge);
|
||||
|
||||
overriding
|
||||
function Object_A (Self : in Hinge) return physics.Object.view;
|
||||
overriding
|
||||
function Object_B (Self : in Hinge) return physics.Object.view;
|
||||
|
||||
overriding
|
||||
function Frame_A (Self : in Hinge) return Matrix_4x4;
|
||||
overriding
|
||||
function Frame_B (Self : in Hinge) return Matrix_4x4;
|
||||
|
||||
overriding
|
||||
procedure Frame_A_is (Self : in out Hinge; Now : in Matrix_4x4);
|
||||
overriding
|
||||
procedure Frame_B_is (Self : in out Hinge; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function is_Limited (Self : in Hinge; DoF : in Degree_of_freedom) return Boolean;
|
||||
overriding
|
||||
procedure Velocity_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
function Extent (Self : in Hinge; DoF : in Degree_of_freedom) return Real;
|
||||
overriding
|
||||
procedure desired_Extent_is (Self : in out Hinge; Now : in Real;
|
||||
DoF : in Degree_of_freedom);
|
||||
overriding
|
||||
procedure Limits_are (Self : in out Hinge; Low, High : in Real;
|
||||
Softness : in Real := 0.9;
|
||||
biasFactor : in Real := 0.3;
|
||||
relaxationFactor : in Real := 1.0);
|
||||
overriding
|
||||
function lower_Limit (Self : in Hinge) return Real;
|
||||
overriding
|
||||
function upper_Limit (Self : in Hinge) return Real;
|
||||
|
||||
overriding
|
||||
function Angle (Self : in Hinge) return Real;
|
||||
|
||||
|
||||
end bullet_Physics.Joint;
|
||||
@@ -0,0 +1,373 @@
|
||||
with
|
||||
bullet_c.Binding,
|
||||
|
||||
bullet_physics.Shape,
|
||||
|
||||
c_math_c.Conversion,
|
||||
c_math_c.Vector_3,
|
||||
c_math_c.Matrix_3x3,
|
||||
c_math_c.Matrix_4x4,
|
||||
|
||||
Swig,
|
||||
interfaces.C,
|
||||
|
||||
ada.unchecked_Deallocation,
|
||||
ada.Unchecked_Conversion,
|
||||
ada.Text_IO;
|
||||
|
||||
package body bullet_Physics.Object
|
||||
is
|
||||
use bullet_c.Binding,
|
||||
c_math_c.Conversion,
|
||||
ada.Text_IO;
|
||||
|
||||
type Any_limited_view is access all lace.Any.limited_item'Class;
|
||||
|
||||
|
||||
function new_Object (Shape : in physics.Shape.view;
|
||||
Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3) return View
|
||||
-- is_Kinematic : in Boolean) return View
|
||||
is
|
||||
Self : constant View := new Item;
|
||||
begin
|
||||
Self.define (Shape => Shape,
|
||||
Mass => Mass,
|
||||
Friction => Friction,
|
||||
Restitution => Restitution,
|
||||
at_Site => at_Site);
|
||||
return Self;
|
||||
end new_Object;
|
||||
|
||||
|
||||
overriding
|
||||
procedure define (Self : access Item; Shape : in physics.Shape.view;
|
||||
Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3)
|
||||
is
|
||||
use interfaces.C;
|
||||
function to_void_ptr is new ada.unchecked_Conversion (Any_limited_view, Swig.void_ptr);
|
||||
|
||||
begin
|
||||
Self.C := b3d_new_Object (c_math_c.Real (Mass),
|
||||
bullet_physics.Shape.view (Shape).C,
|
||||
is_Kinematic => Boolean'Pos (False));
|
||||
-- Boolean'Pos (is_Kinematic));
|
||||
|
||||
b3d_Object_Friction_is (Self.C, c_float (Friction));
|
||||
b3d_Object_Restitution_is (Self.C, c_float (Restitution));
|
||||
b3d_Object_user_Data_is (Self => Self.C.all'Access,
|
||||
Now => to_void_ptr (Self.all'Access));
|
||||
|
||||
Self.user_Data_is (Self);
|
||||
Self.Site_is (at_Site);
|
||||
end define;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Item)
|
||||
is
|
||||
begin
|
||||
null;
|
||||
end destruct;
|
||||
|
||||
|
||||
procedure free (the_Object : in out physics.Object.view)
|
||||
is
|
||||
procedure deallocate is new ada.unchecked_Deallocation (physics.Object.item'Class,
|
||||
physics.Object.view);
|
||||
begin
|
||||
the_Object.destruct;
|
||||
deallocate (the_Object);
|
||||
end free;
|
||||
|
||||
|
||||
function C (Self : in Item) return access bullet_C.Object
|
||||
is
|
||||
begin
|
||||
return Self.C;
|
||||
end C;
|
||||
|
||||
|
||||
overriding
|
||||
function Model (Self : in Item) return physics.Model.view
|
||||
is
|
||||
begin
|
||||
return Self.Model;
|
||||
end Model;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Model_is (Self : in out Item; Now : in physics.Model.view)
|
||||
is
|
||||
begin
|
||||
Self.Model := Now;
|
||||
end Model_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Shape (Self : in Item) return physics.Shape.view
|
||||
is
|
||||
c_Shape : constant bullet_c.Pointers.Shape_pointer := b3d_Object_Shape (Self.C);
|
||||
|
||||
function to_Any_view is new ada.unchecked_Conversion (Swig.void_ptr, Any_limited_view);
|
||||
begin
|
||||
return physics.Shape.view (to_Any_view (b3d_Shape_user_Data (c_Shape)));
|
||||
end Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function Scale (Self : in Item) return Vector_3
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return math.Origin_3D;
|
||||
end Scale;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Scale_is (Self : in out Item; Now : in Vector_3)
|
||||
is
|
||||
begin
|
||||
put_Line ("Scale_is not implemented for bullet_Physics.Object");
|
||||
raise Error with "TODO";
|
||||
end Scale_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure update_Dynamics (Self : in out Item)
|
||||
is
|
||||
Dynamics : constant Matrix_4x4 := Self.Transform;
|
||||
begin
|
||||
Self.Dynamics.set (Dynamics);
|
||||
end update_Dynamics;
|
||||
|
||||
|
||||
overriding
|
||||
function get_Dynamics (Self : in Item) return Matrix_4x4
|
||||
is
|
||||
begin
|
||||
return Self.Dynamics.get;
|
||||
end get_Dynamics;
|
||||
|
||||
|
||||
overriding
|
||||
function is_Active (Self : in Item) return Boolean
|
||||
is
|
||||
begin
|
||||
return True;
|
||||
end is_Active;
|
||||
|
||||
|
||||
overriding
|
||||
procedure activate (Self : in out Item; forceActivation : in Boolean := False)
|
||||
is
|
||||
pragma unreferenced (forceActivation);
|
||||
begin
|
||||
null;
|
||||
end activate;
|
||||
|
||||
|
||||
overriding
|
||||
function Mass (Self : in Item) return Real
|
||||
is
|
||||
begin
|
||||
return Real (b3d_Object_Mass (Self.C));
|
||||
end Mass;
|
||||
|
||||
|
||||
overriding
|
||||
function Site (Self : in Item) return Vector_3
|
||||
is
|
||||
the_Site : constant c_math_c.Vector_3.item := b3d_Object_Site (Self.C);
|
||||
begin
|
||||
return +the_Site;
|
||||
end Site;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Site_is (Self : in out Item; Now : in Vector_3)
|
||||
is
|
||||
c_Now : aliased c_math_c.Vector_3.item := +Now;
|
||||
begin
|
||||
b3d_Object_Site_is (Self.C, c_Now'unchecked_Access);
|
||||
end Site_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Spin (Self : in Item) return math.Matrix_3x3
|
||||
is
|
||||
use type bullet_c.Pointers.Object_pointer;
|
||||
begin
|
||||
if Self.C /= null
|
||||
then
|
||||
declare
|
||||
the_Spin : constant c_math_c.Matrix_3x3.item := b3d_Object_Spin (Self.C);
|
||||
begin
|
||||
return +the_Spin;
|
||||
end;
|
||||
else
|
||||
return Self.Dynamics.get_Spin;
|
||||
end if;
|
||||
end Spin;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Spin_is (Self : in out Item; Now : in Matrix_3x3)
|
||||
is
|
||||
use type bullet_c.Pointers.Object_pointer;
|
||||
begin
|
||||
Self.Dynamics.set_Spin (Now);
|
||||
|
||||
if Self.C /= null
|
||||
then
|
||||
declare
|
||||
c_Now : aliased c_math_c.Matrix_3x3.item := +Now;
|
||||
begin
|
||||
b3d_Object_Spin_is (Self.C, c_Now'unchecked_Access);
|
||||
end;
|
||||
end if;
|
||||
end Spin_is;
|
||||
|
||||
|
||||
overriding
|
||||
function xy_Spin (Self : in Item) return Radians
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0.0;
|
||||
end xy_Spin;
|
||||
|
||||
|
||||
overriding
|
||||
procedure xy_Spin_is (Self : in out Item; Now : in Radians)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end xy_Spin_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Transform (Self : in Item) return Matrix_4x4
|
||||
is
|
||||
the_Transform : constant c_math_c.Matrix_4x4.item := b3d_Object_Transform (Self.C);
|
||||
begin
|
||||
return +the_Transform;
|
||||
end Transform;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Transform_is (Self : in out Item; Now : in Matrix_4x4)
|
||||
is
|
||||
c_Now : aliased c_math_c.Matrix_4x4.item := +Now;
|
||||
begin
|
||||
b3d_Object_Transform_is (Self.C, c_Now'unchecked_Access);
|
||||
end Transform_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Speed (Self : in Item) return math.Vector_3
|
||||
is
|
||||
the_Speed : constant c_math_c.Vector_3.item := b3d_Object_Speed (Self.C);
|
||||
begin
|
||||
return +the_Speed;
|
||||
end Speed;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Speed_is (Self : in out Item; Now : in Vector_3)
|
||||
is
|
||||
c_Now : aliased c_math_c.Vector_3.item := +Now;
|
||||
begin
|
||||
b3d_Object_Speed_is (Self.C, c_Now'unchecked_Access);
|
||||
end Speed_is;
|
||||
|
||||
|
||||
overriding
|
||||
function Gyre (Self : in Item) return math.Vector_3
|
||||
is
|
||||
the_Gyre : constant c_math_c.Vector_3.item := b3d_Object_Gyre (Self.C);
|
||||
begin
|
||||
return +the_Gyre;
|
||||
end Gyre;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Gyre_is (Self : in out Item; Now : in Vector_3)
|
||||
is
|
||||
c_Now : aliased c_math_c.Vector_3.item := +Now;
|
||||
begin
|
||||
b3d_Object_Gyre_is (Self.C, c_Now'unchecked_Access);
|
||||
end Gyre_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Friction_is (Self : in out Item; Now : in Real)
|
||||
is
|
||||
begin
|
||||
b3d_Object_Friction_is (Self.C, +Now);
|
||||
end Friction_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Restitution_is (Self : in out Item; Now : in Real)
|
||||
is
|
||||
begin
|
||||
b3d_Object_Restitution_is (Self.C, +Now);
|
||||
end Restitution_is;
|
||||
|
||||
|
||||
--- Forces
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure apply_Torque (Self : in out Item; Torque : in Vector_3)
|
||||
is
|
||||
c_Torque : aliased c_math_c.Vector_3.item := +Torque;
|
||||
begin
|
||||
b3d_Object_apply_Torque (Self.C, c_Torque'unchecked_Access);
|
||||
end apply_Torque;
|
||||
|
||||
|
||||
overriding
|
||||
procedure apply_Torque_impulse (Self : in out Item; Torque : in Vector_3)
|
||||
is
|
||||
c_Torque : aliased c_math_c.Vector_3.item := +Torque;
|
||||
begin
|
||||
b3d_Object_apply_Torque_impulse (Self.C, c_Torque'unchecked_Access);
|
||||
end apply_Torque_impulse;
|
||||
|
||||
|
||||
overriding
|
||||
procedure apply_Force (Self : in out Item; Force : in Vector_3)
|
||||
is
|
||||
c_Force : aliased c_math_c.Vector_3.item := +Force;
|
||||
begin
|
||||
b3d_Object_apply_Force (Self.C, c_Force'unchecked_Access);
|
||||
end apply_Force;
|
||||
|
||||
|
||||
--- User data
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class)
|
||||
is
|
||||
begin
|
||||
Self.user_Data := Now.all'unchecked_Access;
|
||||
end user_Data_is;
|
||||
|
||||
|
||||
overriding
|
||||
function user_Data (Self : in Item) return access lace.Any.limited_item'Class
|
||||
is
|
||||
begin
|
||||
return Self.user_Data;
|
||||
end user_Data;
|
||||
|
||||
|
||||
end bullet_Physics.Object;
|
||||
@@ -0,0 +1,150 @@
|
||||
with
|
||||
physics.Object,
|
||||
physics.Model,
|
||||
physics.Shape,
|
||||
bullet_C;
|
||||
|
||||
private
|
||||
with
|
||||
bullet_c.Pointers,
|
||||
lace.Any;
|
||||
|
||||
package bullet_Physics.Object
|
||||
--
|
||||
-- Provides glue between a physics object and a Bullet3D object.
|
||||
--
|
||||
is
|
||||
type Item is limited new physics.Object.item with private;
|
||||
type View is access all Item'Class;
|
||||
|
||||
|
||||
use Math;
|
||||
|
||||
---------
|
||||
--- Forge
|
||||
--
|
||||
|
||||
function new_Object (Shape : in physics.Shape.view;
|
||||
Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3) return View;
|
||||
-- is_Kinematic : in Boolean) return View;
|
||||
|
||||
overriding
|
||||
procedure define (Self : access Item; Shape : in physics.Shape.view;
|
||||
Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3);
|
||||
|
||||
procedure free (the_Object : in out physics.Object.view);
|
||||
|
||||
|
||||
--------------
|
||||
--- Attributes
|
||||
--
|
||||
|
||||
function C (Self : in Item) return access bullet_C.Object;
|
||||
|
||||
overriding
|
||||
function Model (Self : in Item) return physics.Model.view;
|
||||
overriding
|
||||
procedure Model_is (Self : in out Item; Now : in physics.Model.view);
|
||||
|
||||
overriding
|
||||
procedure update_Dynamics (Self : in out Item);
|
||||
overriding
|
||||
function get_Dynamics (Self : in Item) return Matrix_4x4;
|
||||
|
||||
|
||||
|
||||
private
|
||||
|
||||
type Item is limited new physics.Object.item with
|
||||
record
|
||||
C : bullet_c.Pointers.Object_pointer;
|
||||
Shape : physics.Shape.view;
|
||||
Model : physics.Model.view;
|
||||
Dynamics : physics.Object.safe_Dynamics;
|
||||
user_Data : access lace.Any.limited_item'Class;
|
||||
end record;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Item);
|
||||
|
||||
overriding
|
||||
function Shape (Self : in Item) return physics.Shape.view;
|
||||
|
||||
overriding
|
||||
function Scale (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
procedure Scale_is (Self : in out Item; Now : in Vector_3);
|
||||
|
||||
overriding
|
||||
procedure activate (Self : in out Item; forceActivation : in Boolean := False);
|
||||
overriding
|
||||
function is_Active (Self : in Item) return Boolean;
|
||||
|
||||
overriding
|
||||
function Mass (Self : in Item) return Real;
|
||||
|
||||
overriding
|
||||
function Site (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
procedure Site_is (Self : in out Item; Now : in Vector_3);
|
||||
|
||||
overriding
|
||||
function Spin (Self : in Item) return Matrix_3x3;
|
||||
overriding
|
||||
procedure Spin_is (Self : in out Item; Now : in Matrix_3x3);
|
||||
|
||||
overriding
|
||||
function xy_Spin (Self : in Item) return Radians;
|
||||
overriding
|
||||
procedure xy_Spin_is (Self : in out Item; Now : in Radians);
|
||||
|
||||
overriding
|
||||
function Transform (Self : in Item) return Matrix_4x4;
|
||||
overriding
|
||||
procedure Transform_is (Self : in out Item; Now : in Matrix_4x4);
|
||||
|
||||
overriding
|
||||
function Speed (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
procedure Speed_is (Self : in out Item; Now : in Vector_3);
|
||||
|
||||
overriding
|
||||
function Gyre (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
procedure Gyre_is (Self : in out Item; Now : in Vector_3);
|
||||
|
||||
overriding
|
||||
procedure Friction_is (Self : in out Item; Now : in Real);
|
||||
|
||||
overriding
|
||||
procedure Restitution_is (Self : in out Item; Now : in Real);
|
||||
|
||||
|
||||
--- Forces
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure apply_Torque (Self : in out Item; Torque : in Vector_3);
|
||||
overriding
|
||||
procedure apply_Torque_impulse (Self : in out Item; Torque : in Vector_3);
|
||||
overriding
|
||||
procedure apply_Force (Self : in out Item; Force : in Vector_3);
|
||||
|
||||
|
||||
--- User data
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure user_Data_is (Self : in out Item; Now : access lace.Any.limited_item'Class);
|
||||
overriding
|
||||
function user_Data (Self : in Item) return access lace.Any.limited_item'Class;
|
||||
|
||||
|
||||
end bullet_Physics.Object;
|
||||
@@ -0,0 +1,270 @@
|
||||
with
|
||||
bullet_c.Binding,
|
||||
|
||||
c_math_c.Vector_2,
|
||||
c_math_c.Vector_3,
|
||||
c_math_c.Conversion,
|
||||
c_math_c.Triangle,
|
||||
|
||||
ada.unchecked_Deallocation,
|
||||
ada.Unchecked_Conversion,
|
||||
|
||||
interfaces.C;
|
||||
|
||||
package body bullet_Physics.Shape
|
||||
is
|
||||
use c_math_c.Conversion,
|
||||
bullet_c.Binding,
|
||||
Interfaces;
|
||||
|
||||
---------
|
||||
-- Forge
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure define (Self : in out Item)
|
||||
is
|
||||
begin
|
||||
raise Error with "Bullet shape not supported.";
|
||||
end define;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Item)
|
||||
is
|
||||
begin
|
||||
null;
|
||||
end destruct;
|
||||
|
||||
|
||||
-------
|
||||
--- Box
|
||||
--
|
||||
type Box_view is access Box;
|
||||
|
||||
function new_box_Shape (half_Extents : in Vector_3) return physics.Shape.view
|
||||
is
|
||||
Self : constant Box_view := new Box;
|
||||
c_half_Extents : aliased c_math_c.Vector_3.item := +half_Extents;
|
||||
begin
|
||||
Self.C := b3d_new_Box (c_half_Extents'unchecked_Access);
|
||||
return physics.Shape.view (Self);
|
||||
end new_box_Shape;
|
||||
|
||||
|
||||
-----------
|
||||
--- Capsule
|
||||
--
|
||||
type Capsule_view is access Capsule;
|
||||
|
||||
function new_capsule_Shape (Radii : in Vector_2;
|
||||
Height : in Real) return physics.Shape.view
|
||||
is
|
||||
Self : constant Capsule_view := new Capsule;
|
||||
c_Radii : aliased c_math_c.Vector_2.item := +Radii;
|
||||
begin
|
||||
Self.C := b3d_new_Capsule (c_Radii'unchecked_Access, +Height);
|
||||
return physics.Shape.view (Self);
|
||||
end new_capsule_Shape;
|
||||
|
||||
|
||||
--------
|
||||
--- Cone
|
||||
--
|
||||
type Cone_view is access Cone;
|
||||
|
||||
function new_cone_Shape (Radius,
|
||||
Height : in Real) return physics.Shape.view
|
||||
is
|
||||
Self : constant Cone_view := new Cone;
|
||||
begin
|
||||
Self.C := b3d_new_Cone (+Radius, +Height);
|
||||
return physics.Shape.view (Self);
|
||||
end new_cone_Shape;
|
||||
|
||||
|
||||
---------------
|
||||
--- convex_Hull
|
||||
--
|
||||
type convex_Hull_view is access convex_Hull;
|
||||
|
||||
function new_convex_hull_Shape (Points : in physics.Vector_3_array) return physics.Shape.view
|
||||
is
|
||||
Self : constant convex_Hull_view := new convex_Hull;
|
||||
c_Points : array (1 .. Points'Length) of aliased c_math_c.Vector_3.item;
|
||||
begin
|
||||
for i in c_Points'Range
|
||||
loop
|
||||
c_Points (i) := +Points (i);
|
||||
end loop;
|
||||
|
||||
Self.C := b3d_new_convex_Hull (c_Points (1)'unchecked_Access,
|
||||
c_Points'Length);
|
||||
return physics.Shape.view (Self);
|
||||
end new_convex_hull_Shape;
|
||||
|
||||
|
||||
--------
|
||||
--- Mesh
|
||||
--
|
||||
type Mesh_view is access Mesh;
|
||||
|
||||
function new_mesh_Shape (Model : access math.Geometry.d3.a_Model) return physics.Shape.view
|
||||
is
|
||||
Self : constant Mesh_view := new Mesh;
|
||||
c_Points : array (1 .. Model.site_Count) of aliased c_math_c.Vector_3.item;
|
||||
|
||||
type Triangles is array (1 .. Model.tri_Count) of aliased c_math_c.Triangle.item;
|
||||
pragma Pack (Triangles);
|
||||
|
||||
c_Triangles : Triangles;
|
||||
|
||||
begin
|
||||
for i in c_Points'Range
|
||||
loop
|
||||
c_Points (i) := +Model.Sites (i);
|
||||
end loop;
|
||||
|
||||
for i in c_Triangles'Range
|
||||
loop
|
||||
c_Triangles (i) := (a => C.int (Model.Triangles (i)(1)),
|
||||
b => C.int (Model.Triangles (i)(2)),
|
||||
c => C.int (Model.Triangles (i)(3)));
|
||||
end loop;
|
||||
|
||||
Self.C := b3d_new_Mesh (Points => c_Points (c_Points'First)'unchecked_Access,
|
||||
point_Count => 0,
|
||||
Triangles => c_Triangles (c_Triangles'First)'unchecked_Access,
|
||||
triangle_Count => C.int (Model.tri_Count));
|
||||
return physics.Shape.view (Self);
|
||||
end new_mesh_Shape;
|
||||
|
||||
|
||||
------------
|
||||
--- Cylinder
|
||||
--
|
||||
type Cylinder_view is access Cylinder;
|
||||
|
||||
function new_cylinder_Shape (half_Extents : in Vector_3) return physics.Shape.view
|
||||
is
|
||||
Self : constant Cylinder_view := new Cylinder;
|
||||
c_half_Extents : aliased c_math_c.Vector_3.item := +half_Extents;
|
||||
begin
|
||||
Self.C := b3d_new_Cylinder (c_half_Extents'unchecked_Access);
|
||||
return physics.Shape.view (Self);
|
||||
end new_cylinder_Shape;
|
||||
|
||||
|
||||
---------------
|
||||
--- Heightfield
|
||||
--
|
||||
type Heightfield_view is access Heightfield;
|
||||
|
||||
function new_heightfield_Shape (Width,
|
||||
Depth : in Positive;
|
||||
Heights : in c_math_c.Pointers.Real_Pointer;
|
||||
min_Height,
|
||||
max_Height : in Real;
|
||||
Scale : in Vector_3) return physics.Shape.view
|
||||
is
|
||||
use c_math_c.Pointers;
|
||||
|
||||
Self : constant Heightfield_view := new Heightfield;
|
||||
c_Scale : aliased c_math_c.Vector_3.item := +Scale;
|
||||
begin
|
||||
Self.C := b3d_new_Heightfield (+Width,
|
||||
+Depth,
|
||||
Heights,
|
||||
c_math_c.Real (min_Height),
|
||||
c_math_c.Real (max_Height),
|
||||
c_Scale'unchecked_Access);
|
||||
return physics.Shape.view (Self);
|
||||
end new_heightfield_Shape;
|
||||
|
||||
|
||||
---------------
|
||||
--- multiSphere
|
||||
--
|
||||
type multiSphere_view is access multiSphere;
|
||||
|
||||
function new_multiSphere_Shape (Positions : in physics.Vector_3_array;
|
||||
Radii : in math.Vector) return physics.Shape.view
|
||||
is
|
||||
pragma Assert (Positions'Length = Radii'Length);
|
||||
|
||||
Self : constant multiSphere_view := new multiSphere;
|
||||
|
||||
c_Positions : array (1 .. Positions'Length) of aliased c_math_c.Vector_3.item;
|
||||
c_Radii : array (1 .. Radii 'Length) of aliased c_math_c.Real;
|
||||
begin
|
||||
for i in c_Radii'Range
|
||||
loop
|
||||
c_Positions (i) := +Positions (i);
|
||||
c_Radii (i) := +Radii (i);
|
||||
end loop;
|
||||
|
||||
Self.C := b3d_new_multiSphere (c_Positions (1)'unchecked_Access,
|
||||
c_Radii (1)'unchecked_Access,
|
||||
Radii'Length);
|
||||
return physics.Shape.view (Self);
|
||||
end new_multiSphere_Shape;
|
||||
|
||||
|
||||
---------
|
||||
--- Plane
|
||||
--
|
||||
type Plane_view is access Plane;
|
||||
|
||||
function new_plane_Shape (Normal : in Vector_3;
|
||||
Offset : in Real) return physics.Shape.view
|
||||
is
|
||||
Self : constant Plane_view := new Plane;
|
||||
c_Vector : aliased c_math_c.Vector_3.item := +Normal;
|
||||
begin
|
||||
Self.C := b3d_new_Plane (c_Vector'unchecked_Access, +Offset);
|
||||
return physics.Shape.view (Self);
|
||||
end new_plane_Shape;
|
||||
|
||||
|
||||
----------
|
||||
--- Sphere
|
||||
--
|
||||
|
||||
type Sphere_view is access Sphere;
|
||||
|
||||
function new_sphere_Shape (Radius : in math.Real) return physics.Shape.view
|
||||
is
|
||||
Self : constant Sphere_view := new Sphere;
|
||||
begin
|
||||
Self.C := b3d_new_Sphere (+Radius);
|
||||
return physics.Shape.view (Self);
|
||||
end new_sphere_Shape;
|
||||
|
||||
|
||||
---------------
|
||||
--- Attributes
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure Scale_is (Self : in out Item; Now : Vector_3)
|
||||
is
|
||||
begin
|
||||
null;
|
||||
end Scale_is;
|
||||
|
||||
|
||||
--------
|
||||
--- Free
|
||||
--
|
||||
|
||||
procedure free (the_Shape : in out physics.Shape.view)
|
||||
is
|
||||
procedure deallocate is new ada.unchecked_Deallocation (physics.Shape.item'Class,
|
||||
physics.Shape.view);
|
||||
begin
|
||||
the_Shape.destruct;
|
||||
deallocate (the_Shape);
|
||||
end free;
|
||||
|
||||
|
||||
end bullet_Physics.Shape;
|
||||
@@ -0,0 +1,82 @@
|
||||
with
|
||||
physics.Shape,
|
||||
|
||||
c_math_c.Pointers,
|
||||
|
||||
bullet_c.Pointers,
|
||||
bullet_c;
|
||||
|
||||
package bullet_Physics.Shape
|
||||
--
|
||||
-- Provides glue between a physics shape and a Bullet3D shape.
|
||||
--
|
||||
is
|
||||
type Item is abstract new physics.Shape.item with
|
||||
record
|
||||
C : bullet_c.Pointers.Shape_Pointer;
|
||||
end record;
|
||||
|
||||
type View is access all Item'Class;
|
||||
|
||||
|
||||
use Math;
|
||||
|
||||
|
||||
---------
|
||||
-- Forge
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure define (Self : in out Item);
|
||||
overriding
|
||||
procedure destruct (Self : in out Item);
|
||||
|
||||
|
||||
function new_box_Shape (half_Extents : in Vector_3) return physics.Shape.view;
|
||||
function new_capsule_Shape (Radii : in Vector_2;
|
||||
Height : in Real) return physics.Shape.view;
|
||||
function new_cone_Shape (Radius,
|
||||
Height : in Real) return physics.Shape.view;
|
||||
function new_convex_hull_Shape (Points : in physics.Vector_3_array)
|
||||
return physics.Shape.view;
|
||||
function new_mesh_Shape (Model : access Geometry.d3.a_Model)
|
||||
return physics.Shape.view;
|
||||
function new_cylinder_Shape (half_Extents : in Vector_3) return physics.Shape.view;
|
||||
function new_heightfield_Shape (Width,
|
||||
Depth : in Positive;
|
||||
Heights : in c_math_c.Pointers.Real_pointer;
|
||||
min_Height,
|
||||
max_Height : in Real;
|
||||
Scale : in Vector_3) return physics.Shape.view;
|
||||
function new_multiSphere_Shape (Positions : in physics.Vector_3_array;
|
||||
Radii : in Vector) return physics.Shape.view;
|
||||
function new_plane_Shape (Normal : in Vector_3;
|
||||
Offset : in Real) return physics.Shape.view;
|
||||
function new_sphere_Shape (Radius : in Real) return physics.Shape.view;
|
||||
|
||||
procedure free (the_Shape : in out physics.Shape.view);
|
||||
|
||||
|
||||
---------------
|
||||
--- Attributes
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure Scale_is (Self : in out Item; Now : Vector_3);
|
||||
|
||||
|
||||
|
||||
private
|
||||
|
||||
type Box is new Item with null record;
|
||||
type Capsule is new Item with null record;
|
||||
type Cone is new Item with null record;
|
||||
type Cylinder is new Item with null record;
|
||||
type Heightfield is new Item with null record;
|
||||
type multiSphere is new Item with null record;
|
||||
type Plane is new Item with null record;
|
||||
type Sphere is new Item with null record;
|
||||
type convex_Hull is new Item with null record;
|
||||
type Mesh is new Item with null record;
|
||||
|
||||
end bullet_Physics.Shape;
|
||||
@@ -0,0 +1,547 @@
|
||||
with
|
||||
bullet_c.Binding,
|
||||
bullet_c.ray_Collision,
|
||||
|
||||
c_math_c.Vector_3,
|
||||
c_math_c.Conversion,
|
||||
c_math_c.Pointers,
|
||||
|
||||
bullet_physics.Shape,
|
||||
bullet_physics.Joint,
|
||||
|
||||
Swig,
|
||||
lace.Any,
|
||||
interfaces.C,
|
||||
ada.unchecked_Conversion;
|
||||
|
||||
package body bullet_Physics.Space
|
||||
is
|
||||
|
||||
use bullet_c.Binding,
|
||||
bullet_c.Pointers,
|
||||
c_math_c.Conversion,
|
||||
Interfaces;
|
||||
|
||||
function to_Object_view is new ada.unchecked_Conversion (swig.void_ptr,
|
||||
physics.Object.view);
|
||||
|
||||
----------
|
||||
--- Forge
|
||||
--
|
||||
|
||||
function to_Space return Item
|
||||
is
|
||||
begin
|
||||
return Self : Item
|
||||
do
|
||||
Self.C := bullet_c.Binding.b3d_new_Space;
|
||||
end return;
|
||||
end to_Space;
|
||||
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Item)
|
||||
is
|
||||
begin
|
||||
bullet_c.Binding.b3d_free_Space (Self.C);
|
||||
end destruct;
|
||||
|
||||
|
||||
---------
|
||||
--- Shape
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_Shape (Self : access Item; Model : in physics.Model.view) return physics.Shape.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end new_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_sphere_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Sphere : constant physics.Shape .view := bullet_physics.Shape.new_sphere_Shape (Radius);
|
||||
begin
|
||||
return the_Sphere;
|
||||
end new_sphere_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_box_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view
|
||||
is
|
||||
pragma Unreferenced (Self);
|
||||
the_Box : constant physics.Shape.view := bullet_physics.Shape.new_box_Shape (half_Extents);
|
||||
begin
|
||||
return the_Box;
|
||||
end new_box_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_capsule_Shape (Self : access Item; Radius : in Real := 0.5;
|
||||
Height : in Real) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Capsule : constant physics.Shape .view := bullet_physics.Shape.new_capsule_Shape (Radii => [Radius, Radius],
|
||||
Height => Height);
|
||||
begin
|
||||
return the_Capsule;
|
||||
end new_capsule_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_cone_Shape (Self : access Item; Radius : in Real := 0.5;
|
||||
Height : in Real := 1.0) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Cone : constant physics.Shape.view := bullet_physics.Shape.new_cone_Shape (Radius, Height);
|
||||
begin
|
||||
return the_Cone;
|
||||
end new_cone_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_cylinder_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Cylinder : constant physics.Shape.view := bullet_physics.Shape.new_cylinder_Shape (half_Extents);
|
||||
begin
|
||||
return the_Cylinder;
|
||||
end New_Cylinder_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_heightfield_Shape (Self : access Item; Heightfield : in out physics.Heightfield;
|
||||
Scale : in Vector_3) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
|
||||
function height_Extent (Self : in physics.Heightfield) return Vector_2
|
||||
is
|
||||
Min : Real := Real'Last;
|
||||
Max : Real := Real'First;
|
||||
begin
|
||||
for Row in Self'Range (1)
|
||||
loop
|
||||
for Col in Self'Range (2)
|
||||
loop
|
||||
Min := Real'Min (Min, Self (Row, Col));
|
||||
Max := Real'Max (Max, Self (Row, Col));
|
||||
end loop;
|
||||
end loop;
|
||||
|
||||
return [Min, Max];
|
||||
end height_Extent;
|
||||
|
||||
function convert is new ada.unchecked_Conversion (physics.Space.Real_view,
|
||||
c_math_c.Pointers.Real_Pointer);
|
||||
|
||||
the_height_Extent : constant Vector_2 := height_Extent (Heightfield);
|
||||
the_Heightfield : constant physics.Shape.view := bullet_physics.Shape.new_heightfield_Shape (Heightfield'Length (1),
|
||||
Heightfield'Length (2),
|
||||
convert (Heightfield (1, 1)'unchecked_Access),
|
||||
the_height_Extent (1),
|
||||
the_height_Extent (2),
|
||||
Scale);
|
||||
begin
|
||||
return the_Heightfield;
|
||||
end new_heightfield_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_multisphere_Shape (Self : access Item; Sites : in physics.vector_3_array;
|
||||
Radii : in Vector) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_multi_Sphere : constant physics.Shape.view := bullet_physics.Shape.new_multisphere_Shape (Sites, Radii);
|
||||
begin
|
||||
return the_multi_Sphere;
|
||||
end new_multisphere_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_plane_Shape (Self : access Item; Normal : in Vector_3 := [0.0, 1.0, 0.0];
|
||||
Offset : in Real := 0.0) return physics.Shape .view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Plane : constant physics.Shape.view := bullet_physics.Shape.new_plane_Shape (Normal, Offset);
|
||||
begin
|
||||
return the_Plane;
|
||||
end new_plane_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_convex_hull_Shape (Self : access Item; Points : in physics.vector_3_array) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Hull : constant physics.Shape.view := bullet_physics.Shape.new_convex_hull_Shape (Points);
|
||||
begin
|
||||
return the_Hull;
|
||||
end new_convex_hull_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_mesh_Shape (Self : access Item; Points : access Physics.Geometry_3D.a_Model) return physics.Shape.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Mesh : constant physics.Shape.view := bullet_physics.Shape.new_mesh_Shape (Points);
|
||||
begin
|
||||
return the_Mesh;
|
||||
end new_mesh_Shape;
|
||||
|
||||
|
||||
-- 2D
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_circle_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view
|
||||
is
|
||||
begin
|
||||
raise physics.Space.unsupported_Shape with "Circle shape not allowed in bullet physics.";
|
||||
return null;
|
||||
end new_circle_Shape;
|
||||
|
||||
|
||||
overriding
|
||||
function new_polygon_Shape (Self : access Item; Vertices : in physics.Space.polygon_Vertices) return physics.Shape.view
|
||||
is
|
||||
begin
|
||||
raise physics.Space.unsupported_Shape with "Polygon shape not allowed in bullet physics.";
|
||||
return null;
|
||||
end new_polygon_Shape;
|
||||
|
||||
|
||||
------------
|
||||
--- Objects
|
||||
--
|
||||
function Hash (the_C_Object : in bullet_c.Pointers.Object_pointer) return ada.Containers.Hash_type
|
||||
is
|
||||
function convert is new ada.unchecked_Conversion (bullet_c.Pointers.Object_pointer,
|
||||
ada.Containers.Hash_type);
|
||||
begin
|
||||
return convert (the_C_Object);
|
||||
end Hash;
|
||||
|
||||
|
||||
overriding
|
||||
function new_Object (Self : access Item; of_Shape : in physics.Shape .view;
|
||||
of_Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3;
|
||||
is_Kinematic : in Boolean) return physics.Object.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_b3d_Object : constant bullet_Physics.Object.view := bullet_physics.Object.new_Object (Shape => of_Shape,
|
||||
Mass => of_Mass,
|
||||
Friction => Friction,
|
||||
Restitution => Restitution,
|
||||
at_Site => at_Site);
|
||||
the_Object : constant physics.Object.view := physics.Object.view (the_b3d_Object);
|
||||
|
||||
begin
|
||||
return the_Object;
|
||||
end new_Object;
|
||||
|
||||
|
||||
overriding
|
||||
function object_Count (Self : in Item) return Natural
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0;
|
||||
end object_Count;
|
||||
|
||||
|
||||
-----------
|
||||
--- Joints
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Anchor_in_A,
|
||||
Anchor_in_B : in Vector_3;
|
||||
pivot_Axis : in Vector_3;
|
||||
low_Limit,
|
||||
high_Limit : in Real;
|
||||
collide_Connected : in Boolean) return physics.Joint.hinge.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A : in physics.Object.view;
|
||||
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.hinge.view := bullet_physics.Joint.new_hinge_Joint (Object_A, Frame_A);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4;
|
||||
low_Limit,
|
||||
high_Limit : in Real;
|
||||
collide_Connected : in Boolean) return physics.Joint.hinge.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.hinge.view := bullet_physics.Joint.new_hinge_Joint (Object_A, Object_B,
|
||||
Frame_A, Frame_B);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_hinge_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_DoF6_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view
|
||||
is
|
||||
pragma Unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.DoF6.view := bullet_physics.Joint.new_DoF6_Joint (Object_A, Object_B,
|
||||
Frame_A, Frame_B);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_DoF6_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_ball_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Pivot_in_A,
|
||||
Pivot_in_B : in Vector_3) return physics.Joint.ball.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.ball.view := Standard.bullet_physics.Joint.new_ball_Joint (Object_A, Object_B,
|
||||
Pivot_in_A, Pivot_in_B);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_ball_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_slider_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.slider.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.slider.view := bullet_physics.Joint.new_slider_Joint (Object_A, Object_B,
|
||||
Frame_A, Frame_B);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_slider_Joint;
|
||||
|
||||
|
||||
overriding
|
||||
function new_cone_twist_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view
|
||||
is
|
||||
pragma unreferenced (Self);
|
||||
the_Joint : constant physics.Joint.cone_twist.view := bullet_physics.Joint.new_cone_twist_Joint (Object_A, Object_B,
|
||||
Frame_A, Frame_B);
|
||||
begin
|
||||
return the_Joint;
|
||||
end new_cone_twist_Joint;
|
||||
|
||||
|
||||
---------------
|
||||
--- Operations
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure update_Bounds (Self : in out Item; of_Obect : in physics.Object.view)
|
||||
is
|
||||
the_c_Object : constant access bullet_c.Object := bullet_physics.Object.view (of_Obect).C;
|
||||
pragma Unreferenced (the_c_Object);
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end update_Bounds;
|
||||
|
||||
|
||||
overriding
|
||||
procedure add (Self : in out Item; Object : in physics.Object.view)
|
||||
is
|
||||
the_c_Object : constant Object_Pointer := bullet_physics.Object.view (Object).C;
|
||||
begin
|
||||
b3d_Space_add_Object (Self.C, the_c_Object);
|
||||
end add;
|
||||
|
||||
|
||||
overriding
|
||||
procedure rid (Self : in out Item; Object : in physics.Object.view)
|
||||
is
|
||||
the_c_Object : constant Object_Pointer := bullet_physics.Object.view (Object).C;
|
||||
begin
|
||||
b3d_Space_rid_Object (Self.C, the_c_Object);
|
||||
end rid;
|
||||
|
||||
|
||||
overriding
|
||||
function cast_Ray (Self : access Item; From, To : in Vector_3) return physics.Space.ray_Collision
|
||||
is
|
||||
c_From : aliased c_math_c.Vector_3.item := +From;
|
||||
c_To : aliased c_math_c.Vector_3.item := +To;
|
||||
|
||||
the_Collision : physics.Space.ray_Collision;
|
||||
the_c_Collision : constant bullet_c.ray_Collision.item := b3d_Space_cast_Ray (Self.C, c_From'unchecked_Access,
|
||||
c_To 'unchecked_Access);
|
||||
begin
|
||||
if the_c_Collision.near_Object /= null
|
||||
then
|
||||
the_Collision.near_Object := to_Object_view (b3d_Object_user_Data (the_c_Collision.near_Object));
|
||||
end if;
|
||||
|
||||
the_Collision.hit_Fraction := Real (the_c_Collision.hit_Fraction);
|
||||
the_Collision.Normal_world := +the_c_Collision.Normal_world;
|
||||
the_Collision.Site_world := +the_c_Collision.Site_world;
|
||||
|
||||
return the_Collision;
|
||||
end cast_Ray;
|
||||
|
||||
|
||||
overriding
|
||||
procedure evolve (Self : in out Item; By : in Duration)
|
||||
is
|
||||
begin
|
||||
bullet_c.Binding.b3d_Space_evolve (Self.C, C.C_float (By));
|
||||
|
||||
-- Update each objects dynamics.
|
||||
--
|
||||
declare
|
||||
use c_Object_Maps_of_Object;
|
||||
Cursor : c_Object_Maps_of_Object.Cursor := Self.object_Map.First;
|
||||
the_Object : bullet_Physics.Object.view;
|
||||
begin
|
||||
while has_Element (Cursor)
|
||||
loop
|
||||
the_Object := Element (Cursor);
|
||||
the_Object.update_Dynamics;
|
||||
|
||||
next (Cursor);
|
||||
end loop;
|
||||
end;
|
||||
end evolve;
|
||||
|
||||
|
||||
overriding
|
||||
function Gravity (Self : in Item) return Vector_3
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return [0.0, 0.0, 0.0];
|
||||
end Gravity;
|
||||
|
||||
|
||||
overriding
|
||||
procedure Gravity_is (Self : in out Item; Now : in Vector_3)
|
||||
is
|
||||
c_Now : aliased c_math_c.Vector_3.item := +Now;
|
||||
begin
|
||||
bullet_c.Binding.b3d_Space_Gravity_is (Self.C, c_Now'unchecked_Access);
|
||||
end Gravity_is;
|
||||
|
||||
|
||||
overriding
|
||||
procedure add (Self : in out Item; Joint : in physics.Joint.view)
|
||||
is
|
||||
the_c_Joint : constant Joint_Pointer := bullet_physics.Joint.view (Joint).C;
|
||||
begin
|
||||
b3d_Space_add_Joint (Self.C, the_c_Joint);
|
||||
end add;
|
||||
|
||||
|
||||
overriding
|
||||
procedure rid (Self : in out Item; Joint : in physics.Joint.view)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end rid;
|
||||
|
||||
|
||||
overriding
|
||||
function manifold_Count (Self : in Item) return Natural
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return 0;
|
||||
end manifold_Count;
|
||||
|
||||
|
||||
overriding
|
||||
function Manifold (Self : access Item; Index : in Positive) return physics.space.a_Manifold
|
||||
is
|
||||
type Any_limited_view is access all lace.Any.limited_item'Class;
|
||||
pragma Unreferenced (Any_limited_view);
|
||||
the_Manifold : physics.space.a_Manifold;
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return the_Manifold;
|
||||
end Manifold;
|
||||
|
||||
|
||||
overriding
|
||||
procedure set_Joint_local_Anchor (Self : in out Item; the_Joint : in physics.Joint.view;
|
||||
is_Anchor_A : in Boolean;
|
||||
local_Anchor : in Vector_3)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end set_Joint_local_Anchor;
|
||||
|
||||
|
||||
-----------------
|
||||
--- Joint Cursors
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure next (Cursor : in out joint_Cursor)
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
end next;
|
||||
|
||||
|
||||
overriding
|
||||
function has_Element (Cursor : in joint_Cursor) return Boolean
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return False;
|
||||
end has_Element;
|
||||
|
||||
|
||||
overriding
|
||||
function Element (Cursor : in joint_Cursor) return physics.Joint.view
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return null;
|
||||
end Element;
|
||||
|
||||
|
||||
overriding
|
||||
function first_Joint (Self : in Item) return physics.Space.joint_Cursor'Class
|
||||
is
|
||||
begin
|
||||
raise Error with "TODO";
|
||||
return joint_Cursor' (others => <>);
|
||||
end first_Joint;
|
||||
|
||||
|
||||
end bullet_Physics.Space;
|
||||
@@ -0,0 +1,216 @@
|
||||
with
|
||||
physics.Space,
|
||||
physics.Model;
|
||||
|
||||
private
|
||||
with
|
||||
bullet_c,
|
||||
bullet_c.Pointers,
|
||||
bullet_Physics.Object,
|
||||
|
||||
physics.Shape,
|
||||
physics.Object,
|
||||
physics.Joint.ball,
|
||||
physics.Joint.slider,
|
||||
physics.Joint.hinge,
|
||||
physics.Joint.cone_twist,
|
||||
physics.Joint.DoF6,
|
||||
|
||||
ada.Containers.hashed_Maps;
|
||||
|
||||
package bullet_Physics.Space
|
||||
--
|
||||
-- Provides a Bullet3D implementation of a physical space.
|
||||
--
|
||||
is
|
||||
type Item is new physics.Space.item with private;
|
||||
type View is access all Item'Class;
|
||||
|
||||
|
||||
-- TODO: Place this in a nested Forge package.
|
||||
function to_Space return Item;
|
||||
|
||||
overriding
|
||||
function manifold_Count (Self : in Item) return Natural;
|
||||
overriding
|
||||
function Manifold (Self : access Item; Index : in Positive) return physics.space.a_Manifold;
|
||||
|
||||
|
||||
|
||||
private
|
||||
|
||||
function Hash (the_C_Object : in bullet_c.Pointers.Object_Pointer) return ada.Containers.Hash_type;
|
||||
use type bullet_c.Pointers.Object_pointer;
|
||||
use type bullet_Physics.Object.view;
|
||||
package c_Object_Maps_of_Object is new ada.Containers.hashed_Maps (Key_type => bullet_c.Pointers.Object_Pointer,
|
||||
Element_type => bullet_Physics.Object.view,
|
||||
Hash => Hash,
|
||||
equivalent_Keys => "=",
|
||||
"=" => "=");
|
||||
|
||||
type Item is new physics.Space.item with
|
||||
record
|
||||
C : bullet_c.Pointers.Space_Pointer;
|
||||
object_Map : c_Object_Maps_of_Object.Map;
|
||||
end record;
|
||||
|
||||
use Math;
|
||||
|
||||
|
||||
----------------
|
||||
--- Joint Cursor
|
||||
--
|
||||
type joint_Cursor is new physics.Space.joint_Cursor with null record;
|
||||
|
||||
overriding
|
||||
procedure next (Cursor : in out joint_Cursor);
|
||||
overriding
|
||||
function has_Element (Cursor : in joint_Cursor) return Boolean;
|
||||
overriding
|
||||
function Element (Cursor : in joint_Cursor) return physics.Joint.view;
|
||||
overriding
|
||||
function first_Joint (Self : in Item) return physics.Space.joint_Cursor'Class;
|
||||
|
||||
|
||||
----------
|
||||
--- Forge
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure destruct (Self : in out Item);
|
||||
|
||||
|
||||
---------
|
||||
--- Shape
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_Shape (Self : access Item; Model : in physics.Model.view) return physics.Shape.view;
|
||||
overriding
|
||||
function new_sphere_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
|
||||
overriding
|
||||
function new_box_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view;
|
||||
overriding
|
||||
function new_capsule_Shape (Self : access Item; Radius : in Real := 0.5;
|
||||
Height : in Real) return physics.Shape.view;
|
||||
overriding
|
||||
function new_cone_Shape (Self : access Item; Radius : in Real := 0.5;
|
||||
Height : in Real := 1.0) return physics.Shape.view;
|
||||
overriding
|
||||
function new_cylinder_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view;
|
||||
overriding
|
||||
function new_heightfield_Shape (Self : access Item; Heightfield : in out physics.Heightfield;
|
||||
Scale : in Vector_3) return physics.Shape.view;
|
||||
overriding
|
||||
function new_multisphere_Shape (Self : access Item; Sites : in physics.Vector_3_array;
|
||||
Radii : in Vector) return physics.Shape.view;
|
||||
overriding
|
||||
function new_plane_Shape (Self : access Item; Normal : in Vector_3 := [0.0, 1.0, 0.0];
|
||||
Offset : in Real := 0.0) return physics.Shape.view;
|
||||
overriding
|
||||
function new_convex_hull_Shape (Self : access Item; Points : in physics.Vector_3_array) return physics.Shape.view;
|
||||
overriding
|
||||
function new_mesh_Shape (Self : access Item; Points : access Physics.Geometry_3D.a_Model) return physics.Shape.view;
|
||||
overriding
|
||||
function new_circle_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
|
||||
overriding
|
||||
function new_polygon_Shape (Self : access Item; Vertices : in physics.Space.polygon_Vertices) return physics.Shape.view;
|
||||
|
||||
|
||||
----------
|
||||
--- Object
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_Object (Self : access Item; of_Shape : in physics.Shape .view;
|
||||
of_Mass : in Real;
|
||||
Friction : in Real;
|
||||
Restitution : in Real;
|
||||
at_Site : in Vector_3;
|
||||
is_Kinematic : in Boolean) return physics.Object.view;
|
||||
overriding
|
||||
function object_Count (Self : in Item) return Natural;
|
||||
|
||||
|
||||
---------
|
||||
--- Joint
|
||||
--
|
||||
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Anchor_in_A,
|
||||
Anchor_in_B : in Vector_3;
|
||||
pivot_Axis : in Vector_3;
|
||||
low_Limit,
|
||||
high_Limit : in Real;
|
||||
collide_Connected : in Boolean) return physics.Joint.hinge.view;
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4;
|
||||
low_Limit,
|
||||
high_Limit : in Real;
|
||||
collide_Connected : in Boolean) return physics.Joint.hinge.view;
|
||||
overriding
|
||||
function new_hinge_Joint (Self : access Item; Object_A : in physics.Object.view;
|
||||
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view;
|
||||
overriding
|
||||
function new_DoF6_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view;
|
||||
overriding
|
||||
function new_ball_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Pivot_in_A,
|
||||
Pivot_in_B : in Vector_3) return physics.Joint.ball.view;
|
||||
overriding
|
||||
function new_slider_Joint (Self : access Item; Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.slider.view;
|
||||
overriding
|
||||
function new_cone_twist_Joint (Self : access Item;
|
||||
Object_A,
|
||||
Object_B : in physics.Object.view;
|
||||
Frame_A,
|
||||
Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view;
|
||||
---------------
|
||||
--- Operations
|
||||
--
|
||||
|
||||
overriding
|
||||
procedure add (Self : in out Item; Object : in physics.Object.view);
|
||||
overriding
|
||||
procedure rid (Self : in out Item; Object : in physics.Object.view);
|
||||
|
||||
overriding
|
||||
function cast_Ray (Self : access Item; From,
|
||||
To : in Vector_3) return physics.Space.ray_Collision;
|
||||
|
||||
overriding
|
||||
procedure evolve (Self : in out Item; By : in Duration);
|
||||
|
||||
overriding
|
||||
function Gravity (Self : in Item) return Vector_3;
|
||||
overriding
|
||||
procedure Gravity_is (Self : in out Item; Now : in Vector_3);
|
||||
|
||||
overriding
|
||||
procedure add (Self : in out Item; Joint : in physics.Joint.view);
|
||||
overriding
|
||||
procedure rid (Self : in out Item; Joint : in physics.Joint.view);
|
||||
|
||||
overriding
|
||||
procedure update_Bounds
|
||||
(Self : in out Item; of_Obect : in physics.Object.view);
|
||||
|
||||
overriding
|
||||
procedure set_Joint_local_Anchor
|
||||
(Self : in out Item; the_Joint : in physics.Joint.view;
|
||||
is_Anchor_A : in Boolean;
|
||||
local_Anchor : in Vector_3);
|
||||
|
||||
end bullet_Physics.Space;
|
||||
@@ -0,0 +1,16 @@
|
||||
with
|
||||
float_Math.Geometry.D3;
|
||||
|
||||
package bullet_Physics
|
||||
--
|
||||
-- Provides an implementation of the physics interface using a binding to the Bullet3D C library.
|
||||
--
|
||||
is
|
||||
pragma Pure;
|
||||
|
||||
package Math renames float_Math;
|
||||
package Geometry_3D renames math.Geometry.D3;
|
||||
|
||||
Error : exception;
|
||||
|
||||
end bullet_Physics;
|
||||
Reference in New Issue
Block a user