Add initial prototype.

3-mid/physics/implement/bullet/source/c/bullet-object.cpp

@@ -0,0 +1,373 @@
+#include "bullet-object.h"
+#include "btBulletDynamicsCommon.h"
+
+
+
+///////////////
+/// C++ Support
+//
+
+class KinematicMotionState : public btMotionState 
+{
+public:
+              KinematicMotionState (const btTransform &initialpos)       { mPos1 = initialpos; }
+    virtual ~ KinematicMotionState ()                                    { }
+
+    virtual void getWorldTransform (      btTransform &worldTrans) const { worldTrans = mPos1; }
+            void setKinematicPos   (      btTransform &currentPos)       { mPos1 = currentPos; }
+    virtual void setWorldTransform (const btTransform &worldTrans)       { }
+
+protected:
+    btTransform   mPos1;
+};
+
+
+
+
+///////////
+/// Utility
+//
+
+btRigidBody*
+to_bullet (Object*   From)
+{
+  return (btRigidBody*) From;
+}
+
+
+
+Object*
+to_bt3 (btRigidBody*   From)
+{
+  return (Object*) From;
+}
+
+
+
+
+///////////////
+/// C Interface
+//
+
+extern "C"
+{
+  
+
+int
+is_Kinematic (btRigidBody*   Self)
+{
+  return   Self->getCollisionFlags()
+         & btCollisionObject::CF_KINEMATIC_OBJECT;  
+}
+
+
+
+
+struct Object*
+b3d_new_Object (Real     Mass,
+                Shape*   the_Shape,
+                int      is_Kinematic)
+{
+  btCollisionShape*   bt_Shape   = (btCollisionShape*) (the_Shape);
+  btScalar            mass       = Mass;
+  bool                isDynamic  = (mass != 0.f);
+  btVector3           localInertia (0,0,0);
+  btTransform         groundTransform;
+
+  groundTransform.setIdentity();
+
+  if (isDynamic)
+    bt_Shape->calculateLocalInertia (mass, localInertia);
+
+
+  KinematicMotionState*                      myMotionState = new KinematicMotionState (groundTransform);
+  btRigidBody::btRigidBodyConstructionInfo   rbInfo              (mass, myMotionState, bt_Shape, localInertia);
+  btRigidBody*                               body          = new btRigidBody (rbInfo);
+
+    
+  if (is_Kinematic)
+    {
+      body->setCollisionFlags (  body->getCollisionFlags()
+			       | btCollisionObject::CF_KINEMATIC_OBJECT);
+
+      body->setActivationState (DISABLE_DEACTIVATION);    
+    }
+  
+  if (isDynamic)
+    body->setActivationState (DISABLE_DEACTIVATION);    
+
+  return (Object*) body;
+}
+
+
+
+
+Shape*
+b3d_Object_Shape          (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  return (Shape*) the_Body->getCollisionShape ();
+
+}
+
+
+
+
+void*
+b3d_Object_user_Data      (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  return the_Body->getUserPointer ();
+}
+
+
+
+void
+b3d_Object_user_Data_is   (Object*   Self,   void*   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->setUserPointer (Now);
+}
+
+
+
+
+Real
+b3d_Object_Mass (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  Real           inv_Mass = the_Body->getInvMass();
+
+  if (inv_Mass == 0.0)
+    return 0.0;
+  else
+    return 1.0 / inv_Mass;
+}
+
+
+
+void
+b3d_Object_Friction_is    (Object*   Self,   Real   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->setFriction (Now);
+}
+
+
+
+void
+b3d_Object_Restitution_is    (Object*   Self,   Real   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->setRestitution (Now);
+}
+
+
+
+
+Vector_3
+b3d_Object_Site (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  Vector_3       the_Site;
+
+  btTransform&   trans    = the_Body->getWorldTransform ();
+  btVector3      bt_Site  = trans.getOrigin();
+
+  the_Site.x = bt_Site.x();
+  the_Site.y = bt_Site.y();
+  the_Site.z = bt_Site.z();
+
+  return the_Site;
+}
+
+
+
+void
+b3d_Object_Site_is (Object*   Self,   Vector_3*   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  btTransform&   trans    = the_Body->getWorldTransform ();
+  
+  trans.setOrigin (btVector3 (Now->x, Now->y, Now->z));
+  the_Body->activate();
+
+  if (is_Kinematic (the_Body))
+    {
+      KinematicMotionState*    the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
+
+      the_Motion_State->setKinematicPos (trans);
+    }
+}
+
+
+
+
+Matrix_3x3
+b3d_Object_Spin (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  Vector_3       the_Site;
+
+  btTransform&   trans    = the_Body->getWorldTransform ();
+  btMatrix3x3    the_Spin = trans.getBasis();
+
+  btVector3&     R1       = the_Spin [0];
+  btVector3&     R2       = the_Spin [1];
+  btVector3&     R3       = the_Spin [2];
+
+  return Matrix_3x3 (R1 [0],  R1 [1],  R1 [2],
+                     R2 [0],  R2 [1],  R2 [2],
+                     R3 [0],  R3 [1],  R3 [2]);
+}
+
+
+void
+b3d_Object_Spin_is (Object*   Self,   Matrix_3x3*   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  btTransform&   trans    = the_Body->getWorldTransform();
+
+  trans.setBasis (btMatrix3x3 (Now->m00, Now->m01, Now->m02,
+                               Now->m10, Now->m11, Now->m12,
+                               Now->m20, Now->m21, Now->m22));
+
+  if (is_Kinematic (the_Body))
+    {
+      KinematicMotionState*    the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
+
+      the_Motion_State->setKinematicPos (trans);
+    }
+}
+
+
+
+Matrix_4x4
+b3d_Object_Transform (Object*   Self)
+{
+  btRigidBody*   the_Body      = to_bullet (Self);
+  btTransform&   trans         = the_Body->getWorldTransform ();
+  btScalar       gl_Matrix [16];
+
+  trans.getOpenGLMatrix (gl_Matrix);
+
+  return Matrix_4x4 (gl_Matrix);
+}
+
+
+
+void
+b3d_Object_Transform_is (Object*   Self,   Matrix_4x4*   Now)
+{
+  btRigidBody*   the_Body      = to_bullet (Self);
+  
+  
+  if (is_Kinematic (the_Body))
+    {
+      btTransform              trans;
+      KinematicMotionState*    the_Motion_State = (KinematicMotionState*) the_Body->getMotionState();
+
+      trans.setFromOpenGLMatrix (&Now->m00);
+      the_Motion_State->setKinematicPos (trans);
+    }
+  else
+    {
+      btTransform&   trans         = the_Body->getWorldTransform ();
+
+      trans.setFromOpenGLMatrix (&Now->m00);
+    }
+}
+
+
+
+
+
+Vector_3
+b3d_Object_Speed (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  Vector_3       the_Speed;
+  btVector3      bt_Speed = the_Body->getLinearVelocity ();
+
+  the_Speed.x = bt_Speed.x();
+  the_Speed.y = bt_Speed.y();
+  the_Speed.z = bt_Speed.z();
+
+  return the_Speed;
+}
+
+
+
+void
+b3d_Object_Speed_is (Object*   Self,   Vector_3*   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->setLinearVelocity (btVector3 (Now->x, Now->y, Now->z));
+}
+
+
+
+
+Vector_3
+b3d_Object_Gyre (Object*   Self)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+  Vector_3       the_Gyre;
+  btVector3      bt_Gyre  = the_Body->getAngularVelocity ();
+
+  the_Gyre.x = bt_Gyre.x();
+  the_Gyre.y = bt_Gyre.y();
+  the_Gyre.z = bt_Gyre.z();
+
+  return the_Gyre;
+}
+
+
+
+void
+b3d_Object_Gyre_is (Object*   Self,   Vector_3*   Now)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->setAngularVelocity (btVector3 (Now->x, Now->y, Now->z));
+}
+
+
+
+
+void
+b3d_Object_apply_Torque (Object*   Self,   Vector_3*   Torque)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->applyTorque (btVector3 (Torque->x, Torque->y, Torque->z));
+}
+
+
+
+void
+b3d_Object_apply_Torque_impulse (Object*   Self,   Vector_3*   Torque)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->applyTorqueImpulse (btVector3 (Torque->x, Torque->y, Torque->z));
+}
+
+
+
+void
+b3d_Object_apply_Force (Object*   Self,   Vector_3*   Force)
+{
+  btRigidBody*   the_Body = to_bullet (Self);
+
+  the_Body->applyCentralImpulse (btVector3 (Force->x, Force->y, Force->z));
+}
+
+
+} // extern "C"