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
 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 copies of the Software, and to permit persons to whom the Software is
 furnished to do so, subject to the following conditions:

 The above copyright notice and this permission notice shall be included in
 all copies or substantial portions of the Software.

 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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#include "physics3d/CCPhysics3D.h"

#if CC_USE_3D_PHYSICS

#    if (CC_ENABLE_BULLET_INTEGRATION)

NS_AX_BEGIN

CC_DLL const char* physics3dVersion()
{
#        if CC_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  // CC_ENABLE_BULLET_INTEGRATION

#endif  // CC_USE_3D_PHYSICS