axmol/core/physics3d/CCPhysics3D.cpp

/****************************************************************************
 Copyright (c) 2015-2016 Chukong Technologies Inc.
 Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.

 https://axis-project.github.io/

 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal
 in the Software without restriction, including without limitation the rights
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 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.

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 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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#include "physics3d/CCPhysics3D.h"

#if AX_USE_3D_PHYSICS

#    if (AX_ENABLE_BULLET_INTEGRATION)

NS_AX_BEGIN

AX_DLL const char* physics3dVersion()
{
#        if AX_ENABLE_BULLET_INTEGRATION
    return "bullet2.82";
#        endif
}

NS_AX_END

axis::Vec3 convertbtVector3ToVec3(const btVector3& btVec3)
{
    return axis::Vec3(btVec3.x(), btVec3.y(), btVec3.z());
}

btVector3 convertVec3TobtVector3(const axis::Vec3& vec3)
{
    return btVector3(vec3.x, vec3.y, vec3.z);
}

axis::Mat4 convertbtTransformToMat4(const btTransform& btTrans)
{
    axis::Mat4 mat;
    auto rot  = btTrans.getBasis();
    auto row  = rot.getRow(0);
    mat.m[0]  = row.getX();
    mat.m[4]  = row.getY();
    mat.m[8]  = row.getZ();
    row       = rot.getRow(1);
    mat.m[1]  = row.getX();
    mat.m[5]  = row.getY();
    mat.m[9]  = row.getZ();
    row       = rot.getRow(2);
    mat.m[2]  = row.getX();
    mat.m[6]  = row.getY();
    mat.m[10] = row.getZ();

    row       = btTrans.getOrigin();
    mat.m[12] = row.getX();
    mat.m[13] = row.getY();
    mat.m[14] = row.getZ();
    return mat;
}

btTransform convertMat4TobtTransform(const axis::Mat4& mat4)
{
    btTransform btTrans;
    btTrans.setFromOpenGLMatrix(mat4.m);
    return btTrans;
}

axis::Quaternion convertbtQuatToQuat(const btQuaternion& btQuat)
{
    return axis::Quaternion(btQuat.x(), btQuat.y(), btQuat.z(), btQuat.w());
}

btQuaternion convertQuatTobtQuat(const axis::Quaternion& quat)
{
    return btQuaternion(quat.x, quat.y, quat.z, quat.w);
}

#    endif  // AX_ENABLE_BULLET_INTEGRATION

#endif  // AX_USE_3D_PHYSICS