mirror of
https://github.com/TorqueGameEngines/Torque3D.git
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102 lines
3 KiB
C++
102 lines
3 KiB
C++
//-----------------------------------------------------------------------------
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// Copyright (c) 2012 GarageGames, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to
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// deal in the Software without restriction, including without limitation the
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// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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// sell copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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// IN THE SOFTWARE.
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//-----------------------------------------------------------------------------
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#ifndef _BULLET_CASTS_H_
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#define _BULLET_CASTS_H_
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#ifndef _BULLET_H_
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#include "T3D/physics/bullet/bt.h"
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#endif
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#ifndef _MMATRIX_H_
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#include "math/mMatrix.h"
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#endif
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#ifndef _MPOINT3_H_
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#include "math/mPoint3.h"
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#endif
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#ifndef _MQUAT_H_
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#include "math/mQuat.h"
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#endif
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template <class T, class F> inline T btCast( const F &from );
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//-------------------------------------------------------------------------
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template<>
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inline Point3F btCast( const btVector3 &vec )
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{
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return Point3F( vec.x(), vec.y(), vec.z() );
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}
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template<>
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inline btVector3 btCast( const Point3F &point )
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{
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return btVector3( point.x, point.y, point.z );
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}
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template<>
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inline QuatF btCast( const btQuaternion &quat )
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{
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/// The Torque quat has the opposite winding order.
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return QuatF( -quat.x(), -quat.y(), -quat.z(), quat.w() );
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}
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template<>
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inline btQuaternion btCast( const QuatF &quat )
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{
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/// The Torque quat has the opposite winding order.
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return btQuaternion( -quat.x, -quat.y, -quat.z, quat.w );
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}
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template<>
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inline btTransform btCast( const MatrixF &xfm )
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{
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btTransform out;
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out.getBasis().setValue( xfm[0], xfm[1], xfm[2],
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xfm[4], xfm[5], xfm[6],
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xfm[8], xfm[9], xfm[10] );
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out.getOrigin().setValue( xfm[3], xfm[7], xfm[11] );
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return out;
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}
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template<>
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inline MatrixF btCast( const btTransform &xfm )
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{
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MatrixF out;
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// Set the rotation.
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out.setRow( 0, btCast<Point3F>( xfm.getBasis()[0] ) );
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out.setRow( 1, btCast<Point3F>( xfm.getBasis()[1] ) );
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out.setRow( 2, btCast<Point3F>( xfm.getBasis()[2] ) );
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// The position.
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out[3] = xfm.getOrigin().x();
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out[7] = xfm.getOrigin().y();
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out[11] = xfm.getOrigin().z();
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// Clear out the rest.
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out[12] = out[13] = out[14] = 0.0f;
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out[15] = 1.0f;
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return out;
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}
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#endif // _BULLET_CASTS_H_
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