1 files changed, 137 insertions, 0 deletions
diff --git a/Source/Physics/bulletobject.h b/Source/Physics/bulletobject.h
new file mode 100644
index 00000000..d3d60e8f
--- /dev/null
+++ b/Source/Physics/bulletobject.h
@@ -0,0 +1,137 @@
+//-----------------------------------------------------------------------------
+//           Name: bulletobject.h
+//      Developer: Wolfire Games LLC
+//    Description:
+//        License: Read below
+//-----------------------------------------------------------------------------
+//
+//   Copyright 2022 Wolfire Games LLC
+//
+//   Licensed under the Apache License, Version 2.0 (the "License");
+//   you may not use this file except in compliance with the License.
+//   You may obtain a copy of the License at
+//
+//       http://www.apache.org/licenses/LICENSE-2.0
+//
+//   Unless required by applicable law or agreed to in writing, software
+//   distributed under the License is distributed on an "AS IS" BASIS,
+//   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+//   See the License for the specific language governing permissions and
+//   limitations under the License.
+//
+//-----------------------------------------------------------------------------
+#pragma once
+
+#include <Math/quaternions.h>
+
+#include <opengl.h>
+
+#include <vector>
+#include <memory>
+
+class btRigidBody;
+class btCollisionShape;
+class btTransform;
+class Object;
+struct CollideInfo;
+
+enum CDLItype { _CDLI_CAPSULE };
+
+class btTriangleIndexVertexArray;
+struct btTriangleInfoMap;
+struct ShapeDisposalData {
+    std::vector<int> faces;
+    btTriangleIndexVertexArray *index_vert_array;
+    btTriangleInfoMap *triangle_info_map;
+    ShapeDisposalData();
+    ~ShapeDisposalData();
+};
+
+typedef std::shared_ptr<btCollisionShape> SharedShapePtr;
+
+class BulletObject {
+public:
+    mat4 transform;
+    mat4 old_transform;
+    std::vector<mat4> transform_history;
+    btRigidBody *body;
+    SharedShapePtr shape;
+    std::auto_ptr<ShapeDisposalData> shape_disposal_data;
+    bool visible;
+    vec3 com_offset;
+    short collision_group;
+    short collision_flags;
+    Object *owner_object;
+    vec3 color;
+    bool linked;
+    bool keep_history;
+
+    BulletObject();
+    ~BulletObject();
+
+    void Collided(const vec3& pos, float impulse, const CollideInfo &collide_info);
+    void SetTransform( const vec4 &position, const mat4 &rotation, const vec4 &scale );
+    void SetTransform( const mat4 &transform );
+    void SetPosition( const vec3 &position);
+    void ApplyTransform(const mat4& transform);
+    void SetGravity(bool _gravity);
+    void SetDamping( float damping );
+    void SetDamping( float lin_damping, float ang_damping );
+    void ApplyTorque(const vec3 &torque);
+    vec3 GetInterpPosition();
+    mat4 GetInterpRotation();
+    void SetRotation( const mat4 &rotation);
+    void SetRotation( const quaternion &rotation);
+    void ClearVelocities();
+    void SetAngularVelocity(const vec3& vel);
+    void SetLinearVelocity(const vec3& vel);
+    vec3 GetPosition() const;
+    vec3 GetLinearVelocity() const;
+    vec3 GetAngularVelocity() const;
+    mat4 GetRotation() const;
+    vec3 ObjectToWorld(const vec3 &point);
+    void ApplyForceAtWorldPoint(const vec3 &point, const vec3 &impulse);
+    vec3 WorldToObject(const vec3 &world_point);
+    void SetVisibility(const bool _visible);
+    bool IsVisible() const;
+    void Activate();
+    void Freeze();
+    void UnFreeze();
+    void FixDiscontinuity();
+    void Dispose();
+    float GetMomentOfInertia(const vec3& axis);
+    void CopyObjectTransform(const BulletObject* other);
+    void MixObjectTransform( const BulletObject* other, float how_much );
+    float GetMass();
+    void SetMass(float mass);
+    void GetDisplayTransform(btTransform* display_transform);
+    quaternion GetQuatRotation();
+    void GetQuatDeltaRotation() const;
+    void UpdateTransform();
+    void SetPositionAndVel( const vec3 &position, int frames = 1);
+    void SetRotationAndVel( const mat4 &rotation, int frames = 1);
+    void SetRotationAndVel( const quaternion &rotation, int frames = 1);
+    void AddAngularVelocity( const vec3& vel );
+    void AddLinearVelocity( const vec3& vel );
+    bool IsActive();
+    void MixObjectVel( const BulletObject* other, float how_much );
+    void CopyObjectVel( const BulletObject* other );
+    mat4 GetTransform() const;
+    vec3 GetInterpPositionX( int num, int progress );
+    mat4 GetInterpRotationX( int num, int progress );
+    void Sleep();
+    void SetMargin( float _margin );
+    vec3 GetVelocityAtLocalPoint(const vec3& point);
+    void NoSleep();
+    void CanSleep();
+    void CheckForNAN();
+    float GetMargin( );
+    void SetShape(SharedShapePtr _shape);
+    void SetColShape(btCollisionShape *_shape);
+    vec3 GetHistoryInterpPositionX( int num, int progress, float offset );
+    mat4 GetHistoryInterpRotationX( int num, int progress, float offset );
+    vec3 GetInterpWeightPosition(float weight);
+    mat4 GetInterpWeightRotation(float weight);
+};
+
+void ValidateTransform(const btTransform &bt_transform);