diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp | 15 |
1 files changed, 12 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp index 20d6975832b..bd8e2748383 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/Bullet-C-API.cpp @@ -43,7 +43,7 @@ subject to the following restrictions: #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h" #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h" #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h" -#include "LinearMath/btStackAlloc.h" + /* Create and Delete a Physics SDK @@ -181,12 +181,12 @@ plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z) plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height) { //capsule is convex hull of 2 spheres, so use btMultiSphereShape - btVector3 inertiaHalfExtents(radius,height,radius); + const int numSpheres = 2; btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)}; btScalar radi[numSpheres] = {radius,radius}; void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16); - return (plCollisionShapeHandle) new (mem)btMultiSphereShape(inertiaHalfExtents,positions,radi,numSpheres); + return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres); } plCollisionShapeHandle plNewConeShape(plReal radius, plReal height) { @@ -295,6 +295,14 @@ void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation) body->setWorldTransform(worldTrans); } +void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix) +{ + btRigidBody* body = reinterpret_cast< btRigidBody* >(object); + btAssert(body); + btTransform& worldTrans = body->getWorldTransform(); + worldTrans.setFromOpenGLMatrix(matrix); +} + void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix) { btRigidBody* body = reinterpret_cast< btRigidBody* >(object); @@ -365,6 +373,7 @@ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float btPointCollector gjkOutput; btGjkPairDetector::ClosestPointInput input; + btTransform tr; tr.setIdentity(); |