Add initial prototype.

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

@@ -0,0 +1,234 @@
+#include "bullet-shape.h"
+#include "bullet-space.h"
+
+#include <btBulletDynamicsCommon.h>
+#include <BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h>
+
+
+
+///////////
+//  Utility
+//
+
+btCollisionShape*
+to_bullet (Shape*   From)
+{
+  return (btCollisionShape*) From;
+}
+
+
+Shape*
+to_bt3 (btCollisionShape*   From)
+{
+  return (Shape*) From;
+}
+
+
+
+
+
+extern "C"
+{
+
+/////////
+//  Forge
+//
+
+
+Shape*
+b3d_new_Box (Vector_3*   half_Extents)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btBoxShape (btVector3 (half_Extents->x,
+                                                                          half_Extents->y,
+                                                                          half_Extents->z)));
+  return Self;
+}
+
+
+
+
+Shape*
+b3d_new_Capsule (Vector_2*   Radii,
+                 Real        Height)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btCapsuleShapeZ (Radii->x,
+                                                                    Height));
+  return Self;
+}
+
+
+
+
+Shape*
+b3d_new_Cone (Real   Radius,
+              Real   Height)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btConeShape (Radius, Height));
+  return Self;
+}
+
+
+
+
+Shape*
+b3d_new_convex_Hull (Vector_3     Points[],
+                     int          point_Count)
+{
+  btConvexHullShape*   bt_Hull = new btConvexHullShape ();
+
+  for (int i = 0;   i < point_Count;   i++)
+    {
+      bt_Hull->addPoint (btVector3 (Points [i].x,
+                                    Points [i].y,
+                                    Points [i].z));
+    }
+
+
+  Shape*   Self = (Shape*)(btCollisionShape*) bt_Hull;
+  return   Self;
+}
+
+
+
+  Shape*
+  b3d_new_Mesh (Vector_3     Points[],
+                int          point_Count,
+		Triangle     Triangles[],
+		int          triangle_Count)
+  {
+    btTriangleMesh* mesh = new btTriangleMesh();
+
+    for (int i = 0;  i < triangle_Count;  i++)
+      {
+	btVector3                 bV1, bV2, bV3;
+
+	bV1 [0] = Points [Triangles [i].a - 1].x;
+	bV1 [1] = Points [Triangles [i].a - 1].y;
+	bV1 [2] = Points [Triangles [i].a - 1].z;
+
+	bV2 [0] = Points [Triangles [i].b - 1].x;
+	bV2 [1] = Points [Triangles [i].b - 1].y;
+	bV2 [2] = Points [Triangles [i].b - 1].z;
+
+	bV3 [0] = Points [Triangles [i].c - 1].x;
+	bV3 [1] = Points [Triangles [i].c - 1].y;
+	bV3 [2] = Points [Triangles [i].c - 1].z;
+
+
+	mesh->addTriangle (bV1, bV2, bV3);
+      }
+
+
+    btBvhTriangleMeshShape*   bt_Mesh = new btBvhTriangleMeshShape (mesh, true, true);
+
+    Shape*   Self = (Shape*)(btCollisionShape*) bt_Mesh;
+    return   Self;
+  }
+
+
+
+
+Shape*
+b3d_new_Cylinder (Vector_3*   half_Extents)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btCylinderShape (btVector3 (half_Extents->x,
+                                                                               half_Extents->y,
+                                                                               half_Extents->z)));
+  return Self;
+}
+
+
+
+
+Shape*
+b3d_new_Heightfield (int         Width,
+                     int         Depth,
+                     Real        Heights[],
+                     Real        min_Height,
+                     Real        max_Height,
+                     Vector_3*   Scale)
+{
+  btCollisionShape*   Self = (btCollisionShape*) (new btHeightfieldTerrainShape (Width,      Depth,
+                                                                                 Heights,
+                                                                                 1.0,
+                                                                                 min_Height, max_Height,
+                                                                                 1,  PHY_FLOAT, 0));
+  Self->setLocalScaling (btVector3 (Scale->x,
+                                    Scale->y,
+                                    Scale->z));
+  return (Shape*) Self;;
+}
+
+
+
+
+Shape*
+b3d_new_multiSphere (Vector_3*   Positions,
+                     Real*       Radii,
+                     int         sphere_Count)
+{
+  btVector3   bt_Positions [sphere_Count];
+
+  for (int i=0;  i < sphere_Count;  i++)
+    {
+      bt_Positions [i][0] = Positions [i].x;
+      bt_Positions [i][1] = Positions [i].y;
+      bt_Positions [i][2] = Positions [i].z;
+    }
+
+  Shape*      Self = (Shape*)(btCollisionShape*) (new btMultiSphereShape (bt_Positions,
+                                                                          Radii,
+                                                                          sphere_Count));
+  return Self;
+}
+
+
+
+
+Shape*
+b3d_new_Plane (Vector_3*   Normal,
+               Real       Offset)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btStaticPlaneShape (btVector3 (Normal->x,
+                                                                                  Normal->y,
+                                                                                  Normal->z),
+                                                                       Offset));
+  return Self;
+}
+
+
+
+Shape*
+b3d_new_Sphere (Real   Radius)
+{
+  Shape*   Self = (Shape*)(btCollisionShape*) (new btSphereShape (Radius));
+  return Self;
+}
+
+
+
+
+
+//////////////
+//  Attributes
+//
+
+void*
+b3d_Shape_user_Data      (Shape*   Self)
+{
+  btCollisionShape*   the_Shape = to_bullet (Self);
+
+  return the_Shape->getUserPointer();
+}
+
+
+void
+b3d_Shape_user_Data_is   (Shape*   Self,   void*   Now)
+{
+  btCollisionShape*   the_Shape = to_bullet (Self);
+
+  the_Shape->setUserPointer (Now);
+}
+
+} // extern "C"
+