axmol/core/physics3d/Physics3D.cpp

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

 https://axmolengine.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
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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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/Physics3D.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

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

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

ax::Mat4 convertbtTransformToMat4(const btTransform& btTrans)
{
    ax::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 ax::Mat4& mat4)
{
    btTransform btTrans;
    btTrans.setFromOpenGLMatrix(mat4.m);
    return btTrans;
}

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

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

#    endif  // AX_ENABLE_BULLET_INTEGRATION

#endif  // AX_USE_3D_PHYSICS