220 lines
9.5 KiB
Ada
220 lines
9.5 KiB
Ada
with
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physics.Space,
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physics.Model;
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private
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with
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bullet_c,
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bullet_c.Pointers,
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bullet_Physics.Object,
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physics.Shape,
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physics.Object,
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physics.Joint.ball,
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physics.Joint.slider,
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physics.Joint.hinge,
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physics.Joint.cone_twist,
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physics.Joint.DoF6,
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ada.Containers.hashed_Maps;
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package bullet_Physics.Space
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--
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-- Provides a Bullet3D implementation of a physical space.
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--
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is
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type Item is new physics.Space.item with private;
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type View is access all Item'Class;
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-- TODO: Place this in a nested Forge package.
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function to_Space return Item;
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overriding
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function manifold_Count (Self : in Item) return Natural;
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overriding
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function Manifold (Self : access Item; Index : in Positive) return physics.space.a_Manifold;
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private
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function Hash (the_C_Object : in bullet_c.Pointers.Object_Pointer) return ada.Containers.Hash_type;
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use type bullet_c.Pointers.Object_pointer;
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use type bullet_Physics.Object.view;
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package c_Object_Maps_of_Object is new ada.Containers.hashed_Maps (Key_type => bullet_c.Pointers.Object_Pointer,
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Element_type => bullet_Physics.Object.view,
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Hash => Hash,
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equivalent_Keys => "=",
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"=" => "=");
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type Item is new physics.Space.item with
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record
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C : bullet_c.Pointers.Space_Pointer;
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object_Map : c_Object_Maps_of_Object.Map;
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end record;
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use Math;
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----------------
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--- Joint Cursor
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--
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type joint_Cursor is new physics.Space.joint_Cursor with null record;
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overriding
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procedure next (Cursor : in out joint_Cursor);
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overriding
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function has_Element (Cursor : in joint_Cursor) return Boolean;
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overriding
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function Element (Cursor : in joint_Cursor) return physics.Joint.view;
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overriding
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function first_Joint (Self : in Item) return physics.Space.joint_Cursor'Class;
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----------
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--- Forge
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--
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overriding
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procedure destruct (Self : in out Item);
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---------
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--- Shape
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--
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overriding
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function new_Shape (Self : access Item; Model : in physics.Model.view) return physics.Shape.view;
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overriding
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function new_sphere_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
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overriding
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function new_box_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view;
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overriding
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function new_capsule_Shape (Self : access Item; Radius : in Real := 0.5;
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Height : in Real) return physics.Shape.view;
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overriding
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function new_cone_Shape (Self : access Item; Radius : in Real := 0.5;
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Height : in Real := 1.0) return physics.Shape.view;
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overriding
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function new_cylinder_Shape (Self : access Item; half_Extents : in Vector_3 := [0.5, 0.5, 0.5]) return physics.Shape.view;
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overriding
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function new_heightfield_Shape (Self : access Item; Heightfield : in out physics.Heightfield;
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Scale : in Vector_3) return physics.Shape.view;
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overriding
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function new_multisphere_Shape (Self : access Item; Sites : in physics.Vector_3_array;
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Radii : in Vector) return physics.Shape.view;
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overriding
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function new_plane_Shape (Self : access Item; Normal : in Vector_3 := [0.0, 1.0, 0.0];
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Offset : in Real := 0.0) return physics.Shape.view;
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overriding
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function new_convex_hull_Shape (Self : access Item; Points : in physics.Vector_3_array) return physics.Shape.view;
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overriding
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function new_mesh_Shape (Self : access Item; Points : access Physics.Geometry_3D.a_Model) return physics.Shape.view;
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overriding
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function new_circle_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
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overriding
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function new_polygon_Shape (Self : access Item; Vertices : in physics.Space.polygon_Vertices) return physics.Shape.view;
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----------
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--- Object
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--
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overriding
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function new_Object (Self : access Item; of_Shape : in physics.Shape .view;
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of_Mass : in Real;
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Friction : in Real;
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Restitution : in Real;
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at_Site : in Vector_3;
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is_Kinematic : in Boolean) return physics.Object.view;
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overriding
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function object_Count (Self : in Item) return Natural;
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---------
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--- Joint
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--
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overriding
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function new_hinge_Joint (Self : access Item; Object_A,
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Object_B : in physics.Object.view;
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Anchor_in_A,
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Anchor_in_B : in Vector_3;
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pivot_Axis : in Vector_3;
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low_Limit,
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high_Limit : in Real;
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collide_Connected : in Boolean) return physics.Joint.hinge.view;
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overriding
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function new_hinge_Joint (Self : access Item; Object_A,
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Object_B : in physics.Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4;
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low_Limit,
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high_Limit : in Real;
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collide_Connected : in Boolean) return physics.Joint.hinge.view;
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overriding
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function new_hinge_Joint (Self : access Item; Object_A : in physics.Object.view;
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Frame_A : in Matrix_4x4) return physics.Joint.hinge.view;
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overriding
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function new_DoF6_Joint (Self : access Item; Object_A,
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Object_B : in physics.Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view;
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overriding
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function new_ball_Joint (Self : access Item; Object_A,
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Object_B : in physics.Object.view;
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Pivot_in_A,
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Pivot_in_B : in Vector_3) return physics.Joint.ball.view;
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overriding
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function new_slider_Joint (Self : access Item; Object_A,
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Object_B : in physics.Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return physics.Joint.slider.view;
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overriding
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function new_cone_twist_Joint (Self : access Item;
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Object_A,
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Object_B : in physics.Object.view;
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Frame_A,
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Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view;
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---------------
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--- Operations
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--
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overriding
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procedure add (Self : in out Item; Object : in physics.Object.view);
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overriding
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procedure rid (Self : in out Item; Object : in physics.Object.view);
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overriding
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function cast_Ray (Self : access Item; From,
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To : in Vector_3) return physics.Space.ray_Collision;
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overriding
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function cast_Point (Self : access Item; Point : in Vector_3) return physics.Space.point_Collision;
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overriding
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procedure evolve (Self : in out Item; By : in Duration);
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overriding
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function Gravity (Self : in Item) return Vector_3;
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overriding
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procedure Gravity_is (Self : in out Item; Now : in Vector_3);
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overriding
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procedure add (Self : in out Item; Joint : in physics.Joint.view);
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overriding
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procedure rid (Self : in out Item; Joint : in physics.Joint.view);
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overriding
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procedure update_Bounds
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(Self : in out Item; of_Obect : in physics.Object.view);
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overriding
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procedure set_Joint_local_Anchor
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(Self : in out Item; the_Joint : in physics.Joint.view;
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is_Anchor_A : in Boolean;
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local_Anchor : in Vector_3);
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end bullet_Physics.Space;
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