rigid_body.cpp

Go to the documentation of this file.

#include <btBulletDynamicsCommon.h>

extern double bulletWorldScalingFactor;

extern "C"
{

  btRigidBody *newRigidBody(double mass, btMotionState *motionState, btCollisionShape *collisionShape)
  {
    btVector3 intertia(0, 0, 0);
    collisionShape->calculateLocalInertia(mass, intertia);
    return new btRigidBody(mass, motionState, collisionShape, intertia);
  }

  void deleteRigidBody(btRigidBody *body)
  {
    delete body;
  }

  void getTotalForce(btRigidBody *body, double *forceVector)
  {
    btVector3 forceVectorBt = body->getTotalForce() / bulletWorldScalingFactor;
    forceVector[0] = forceVectorBt.x();
    forceVector[1] = forceVectorBt.y();
    forceVector[2] = forceVectorBt.z();
  }

  void getTotalTorque(btRigidBody *body, double *torqueVector)
  {
    btVector3 torqueVectorBt = body->getTotalTorque();
    torqueVector[0] = torqueVectorBt.x();
    torqueVector[1] = torqueVectorBt.y();
    torqueVector[2] = torqueVectorBt.z();
  }

  void applyForce(btRigidBody *body, double *force, double *rel_pos)
  {
    btVector3 force_vec = btVector3(force[0], force[1], force[2]) * bulletWorldScalingFactor;
    btVector3 rel_pos_vec = btVector3(rel_pos[0], rel_pos[1], rel_pos[2]) * bulletWorldScalingFactor;
    body->applyForce(force_vec, rel_pos_vec);
  }

  void applyCentralForce(btRigidBody *body, double *force)
  {
    btVector3 force_vec = btVector3(force[0], force[1], force[2]) * bulletWorldScalingFactor;
    body->applyCentralForce(force_vec);
  }

  void applyTorque(btRigidBody *body, double *torque)
  {
    btVector3 torque_vec(torque[0], torque[1], torque[2]);
    body->applyTorque(torque_vec);
  }

  void clearForces(btRigidBody *body)
  {
    body->clearForces();
  }

  void getLinearVelocity(btRigidBody *body, double *velocity)
  {
    const btVector3 &vel = body->getLinearVelocity() / bulletWorldScalingFactor;
    velocity[0] = vel.x();
    velocity[1] = vel.y();
    velocity[2] = vel.z();
  }

  void setLinearVelocity(btRigidBody *body, double *velocity)
  {
    body->setLinearVelocity(
      btVector3(velocity[0] * bulletWorldScalingFactor,
        velocity[1] * bulletWorldScalingFactor,
        velocity[2] * bulletWorldScalingFactor));
  }

  void getAngularVelocity(btRigidBody *body, double *velocity)
  {
    const btVector3 &vel = body->getAngularVelocity();
    velocity[0] = vel.x();
    velocity[1] = vel.y();
    velocity[2] = vel.z();
  }

  void setAngularVelocity(btRigidBody *body, double *velocity)
  {
    body->setAngularVelocity(
      btVector3(velocity[0], velocity[1], velocity[2]));
  }
  
  btMotionState *getMotionState(btRigidBody *body)
  {
    return body->getMotionState();
  }

  void setMotionState(btRigidBody *body, btMotionState *motionState)
  {
    body->setMotionState(motionState);
  }

  void setActivationState(btRigidBody *body, int newState)
  {
    body->setActivationState(newState);
  }

  int getActivationState(btRigidBody *body)
  {
    return body->getActivationState();
  }

  void setCollisionFlags(btRigidBody *body, int flags)
  {
    body->setCollisionFlags(flags);
  }

  int getCollisionFlags(btRigidBody *body)
  {
    return body->getCollisionFlags();
  }

  btCollisionShape *getCollisionShape(btRigidBody *body)
  {
    return body->getCollisionShape();
  }

  void getAabb(btRigidBody *body, double *aabbMin, double *aabbMax)
  {
    btVector3 min;
    btVector3 max;

    body->getAabb(min, max);
    aabbMin[0] = min.x() / bulletWorldScalingFactor;
    aabbMin[1] = min.y() / bulletWorldScalingFactor;
    aabbMin[2] = min.z() / bulletWorldScalingFactor;
    aabbMax[0] = max.x() / bulletWorldScalingFactor;
    aabbMax[1] = max.y() / bulletWorldScalingFactor;
    aabbMax[2] = max.z() / bulletWorldScalingFactor;
  }

  void getCollisionFilter(btRigidBody *body, int *group, int *mask)
  {
    *group = body->getBroadphaseProxy()->m_collisionFilterGroup;
    *mask =  body->getBroadphaseProxy()->m_collisionFilterMask;
  }

  void setCollisionFilter(btRigidBody *body, int group, int mask)
  {
    body->getBroadphaseProxy()->m_collisionFilterGroup = group;
    body->getBroadphaseProxy()->m_collisionFilterMask = mask;
  }

  void setMassProps(btRigidBody *body, double mass)
  {
    btVector3 inverseInertia = body->getInvInertiaDiagLocal();
    btVector3 inertia = btVector3(
        inverseInertia.x() != 0.0 ? 1.0 / inverseInertia.x() : 0.0,
        inverseInertia.y() != 0.0 ? 1.0 / inverseInertia.y() : 0.0,
        inverseInertia.z() != 0.0 ? 1.0 / inverseInertia.z() : 0.0);
    body->setMassProps(mass, inertia);
  }
}