155 lines
5.9 KiB
C++
155 lines
5.9 KiB
C++
/*************************************************************************/
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/* bullet_types_converter.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in 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, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "bullet_types_converter.h"
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/**
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@author AndreaCatania
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*/
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// ++ BULLET to GODOT ++++++++++
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void B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
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outVal[0] = inVal[0];
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outVal[1] = inVal[1];
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outVal[2] = inVal[2];
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}
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void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
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outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
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outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
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outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
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}
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void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
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B_TO_G(inVal[0], outVal[0]);
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B_TO_G(inVal[1], outVal[1]);
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B_TO_G(inVal[2], outVal[2]);
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}
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void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
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INVERT_B_TO_G(inVal[0], outVal[0]);
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INVERT_B_TO_G(inVal[1], outVal[1]);
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INVERT_B_TO_G(inVal[2], outVal[2]);
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}
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void B_TO_G(btTransform const &inVal, Transform &outVal) {
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B_TO_G(inVal.getBasis(), outVal.basis);
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B_TO_G(inVal.getOrigin(), outVal.origin);
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}
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// ++ GODOT to BULLET ++++++++++
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void G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
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outVal[0] = inVal[0];
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outVal[1] = inVal[1];
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outVal[2] = inVal[2];
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}
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void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
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outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
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outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
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outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
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}
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void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
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G_TO_B(inVal[0], outVal[0]);
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G_TO_B(inVal[1], outVal[1]);
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G_TO_B(inVal[2], outVal[2]);
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}
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void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
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INVERT_G_TO_B(inVal[0], outVal[0]);
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INVERT_G_TO_B(inVal[1], outVal[1]);
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INVERT_G_TO_B(inVal[2], outVal[2]);
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}
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void G_TO_B(Transform const &inVal, btTransform &outVal) {
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G_TO_B(inVal.basis, outVal.getBasis());
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G_TO_B(inVal.origin, outVal.getOrigin());
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}
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void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
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btMatrix3x3 &basis(scaledBasis.getBasis());
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btVector3 column0 = basis.getColumn(0);
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btVector3 column1 = basis.getColumn(1);
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btVector3 column2 = basis.getColumn(2);
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// Check for zero scaling.
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if (column0.fuzzyZero()) {
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if (column1.fuzzyZero()) {
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if (column2.fuzzyZero()) {
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// All dimensions are fuzzy zero. Create a default basis.
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column0 = btVector3(1, 0, 0);
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column1 = btVector3(0, 1, 0);
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column2 = btVector3(0, 0, 1);
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} else { // Column 2 scale not fuzzy zero.
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// Create two vectors orthogonal to row 2.
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// Ensure that a default basis is created if row 2 = <0, 0, 1>
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column1 = btVector3(0, column2[2], -column2[1]);
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column0 = column1.cross(column2);
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}
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} else { // Column 1 scale not fuzzy zero.
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if (column2.fuzzyZero()) {
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// Create two vectors othogonal to column 1.
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// Ensure that a default basis is created if column 1 = <0, 1, 0>
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column0 = btVector3(column1[1], -column1[0], 0);
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column2 = column0.cross(column1);
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} else { // Column 1 and column 2 scales not fuzzy zero.
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// Create column 0 orthogonal to column 1 and column 2.
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column0 = column1.cross(column2);
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}
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}
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} else { // Column 0 scale not fuzzy zero.
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if (column1.fuzzyZero()) {
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if (column2.fuzzyZero()) {
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// Create two vectors orthogonal to column 0.
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// Ensure that a default basis is created if column 0 = <1, 0, 0>
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column2 = btVector3(-column0[2], 0, column0[0]);
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column1 = column2.cross(column0);
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} else { // Column 0 and column 2 scales not fuzzy zero.
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// Create column 1 orthogonal to column 0 and column 2.
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column1 = column2.cross(column0);
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}
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} else { // Column 0 and column 1 scales not fuzzy zero.
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if (column2.fuzzyZero()) {
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// Create column 2 orthogonal to column 0 and column 1.
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column2 = column0.cross(column1);
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}
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}
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}
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// Normalize
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column0.normalize();
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column1.normalize();
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column2.normalize();
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basis.setValue(column0[0], column1[0], column2[0],
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column0[1], column1[1], column2[1],
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column0[2], column1[2], column2[2]);
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}
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