376 lines
7.2 KiB
C++
376 lines
7.2 KiB
C++
#include "bullet-object.h"
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#include "btBulletDynamicsCommon.h"
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///////////////
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/// C++ Support
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//
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class KinematicMotionState : public btMotionState
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{
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public:
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KinematicMotionState (const btTransform &initialpos) { mPos1 = initialpos; }
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virtual ~ KinematicMotionState () { }
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virtual void getWorldTransform ( btTransform &worldTrans) const { worldTrans = mPos1; }
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void setKinematicPos ( btTransform ¤tPos) { mPos1 = currentPos; }
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virtual void setWorldTransform (const btTransform &worldTrans) { }
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protected:
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btTransform mPos1;
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};
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///////////
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/// Utility
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//
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btRigidBody*
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to_bullet (Object* From)
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{
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return (btRigidBody*) From;
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}
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Object*
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to_bt3 (btRigidBody* From)
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{
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return (Object*) From;
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}
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///////////////
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/// C Interface
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//
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extern "C"
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{
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int
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is_Kinematic (btRigidBody* Self)
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{
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return Self->getCollisionFlags()
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& btCollisionObject::CF_KINEMATIC_OBJECT;
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}
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struct Object*
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b3d_new_Object (Real Mass,
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Shape* the_Shape,
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int is_Kinematic)
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{
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btCollisionShape* bt_Shape = (btCollisionShape*) (the_Shape);
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btScalar mass = Mass;
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia (0,0,0);
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btTransform groundTransform;
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groundTransform.setIdentity();
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if (isDynamic)
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bt_Shape->calculateLocalInertia (mass, localInertia);
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KinematicMotionState* myMotionState = new KinematicMotionState (groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo (mass, myMotionState, bt_Shape, localInertia);
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btRigidBody* body = new btRigidBody (rbInfo);
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if (is_Kinematic)
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{
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body->setCollisionFlags ( body->getCollisionFlags()
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| btCollisionObject::CF_KINEMATIC_OBJECT);
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body->setActivationState (DISABLE_DEACTIVATION);
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}
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if (isDynamic)
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body->setActivationState (DISABLE_DEACTIVATION);
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return (Object*) body;
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}
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Shape*
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b3d_Object_Shape (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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return (Shape*) the_Body->getCollisionShape ();
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}
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void*
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b3d_Object_user_Data (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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return the_Body->getUserPointer ();
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}
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void
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b3d_Object_user_Data_is (Object* Self,
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void* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->setUserPointer (Now);
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}
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Real
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b3d_Object_Mass (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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Real inv_Mass = the_Body->getInvMass();
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if (inv_Mass == 0.0)
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return 0.0;
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else
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return 1.0 / inv_Mass;
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}
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void
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b3d_Object_Friction_is (Object* Self,
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Real Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->setFriction (Now);
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}
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void
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b3d_Object_Restitution_is (Object* Self, Real Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->setRestitution (Now);
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}
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Vector_3
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b3d_Object_Site (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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Vector_3 the_Site;
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btTransform& trans = the_Body->getWorldTransform ();
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btVector3 bt_Site = trans.getOrigin();
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the_Site.x = bt_Site.x();
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the_Site.y = bt_Site.y();
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the_Site.z = bt_Site.z();
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return the_Site;
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}
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void
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b3d_Object_Site_is (Object* Self, Vector_3* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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btTransform& trans = the_Body->getWorldTransform ();
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trans.setOrigin (btVector3 (Now->x, Now->y, Now->z));
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the_Body->activate();
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if (is_Kinematic (the_Body))
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{
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KinematicMotionState* the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
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the_Motion_State->setKinematicPos (trans);
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}
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}
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Matrix_3x3
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b3d_Object_Spin (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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Vector_3 the_Site;
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btTransform& trans = the_Body->getWorldTransform ();
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btMatrix3x3 the_Spin = trans.getBasis();
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btVector3& R1 = the_Spin [0];
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btVector3& R2 = the_Spin [1];
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btVector3& R3 = the_Spin [2];
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return Matrix_3x3 (R1 [0], R1 [1], R1 [2],
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R2 [0], R2 [1], R2 [2],
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R3 [0], R3 [1], R3 [2]);
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}
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void
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b3d_Object_Spin_is (Object* Self, Matrix_3x3* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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btTransform& trans = the_Body->getWorldTransform();
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trans.setBasis (btMatrix3x3 (Now->m00, Now->m01, Now->m02,
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Now->m10, Now->m11, Now->m12,
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Now->m20, Now->m21, Now->m22));
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if (is_Kinematic (the_Body))
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{
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KinematicMotionState* the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
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the_Motion_State->setKinematicPos (trans);
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}
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}
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Matrix_4x4
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b3d_Object_Transform (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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btTransform& trans = the_Body->getWorldTransform ();
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btScalar gl_Matrix [16];
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trans.getOpenGLMatrix (gl_Matrix);
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return Matrix_4x4 (gl_Matrix);
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}
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void
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b3d_Object_Transform_is (Object* Self, Matrix_4x4* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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if (is_Kinematic (the_Body))
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{
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btTransform trans;
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KinematicMotionState* the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
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trans.setFromOpenGLMatrix (&Now->m00);
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the_Motion_State->setKinematicPos (trans);
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}
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else
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{
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btTransform& trans = the_Body->getWorldTransform ();
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trans.setFromOpenGLMatrix (&Now->m00);
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}
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}
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Vector_3
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b3d_Object_Speed (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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Vector_3 the_Speed;
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btVector3 bt_Speed = the_Body->getLinearVelocity ();
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the_Speed.x = bt_Speed.x();
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the_Speed.y = bt_Speed.y();
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the_Speed.z = bt_Speed.z();
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return the_Speed;
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}
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void
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b3d_Object_Speed_is (Object* Self, Vector_3* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->setLinearVelocity (btVector3 (Now->x, Now->y, Now->z));
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}
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Vector_3
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b3d_Object_Gyre (Object* Self)
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{
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btRigidBody* the_Body = to_bullet (Self);
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Vector_3 the_Gyre;
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btVector3 bt_Gyre = the_Body->getAngularVelocity ();
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the_Gyre.x = bt_Gyre.x();
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the_Gyre.y = bt_Gyre.y();
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the_Gyre.z = bt_Gyre.z();
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return the_Gyre;
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}
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void
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b3d_Object_Gyre_is (Object* Self, Vector_3* Now)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->setAngularVelocity (btVector3 (Now->x, Now->y, Now->z));
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}
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void
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b3d_Object_apply_Torque (Object* Self, Vector_3* Torque)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->applyTorque (btVector3 (Torque->x, Torque->y, Torque->z));
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}
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void
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b3d_Object_apply_Torque_impulse (Object* Self, Vector_3* Torque)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->applyTorqueImpulse (btVector3 (Torque->x, Torque->y, Torque->z));
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}
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void
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b3d_Object_apply_Force (Object* Self, Vector_3* Force)
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{
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btRigidBody* the_Body = to_bullet (Self);
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the_Body->applyCentralImpulse (btVector3 (Force->x, Force->y, Force->z));
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}
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} // extern "C"
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