mirror of
https://github.com/worldforge/cyphesis
synced 2026-08-13 12:26:04 -04:00
104 lines
3.2 KiB
C++
104 lines
3.2 KiB
C++
// Cyphesis Online RPG Server and AI Engine
|
|
// Copyright (C) 2016 Erik Ogenvik
|
|
//
|
|
// This program is free software; you can redistribute it and/or modify
|
|
// it under the terms of the GNU General Public License as published by
|
|
// the Free Software Foundation; either version 2 of the License, or
|
|
// (at your option) any later version.
|
|
//
|
|
// This program is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
// GNU General Public License for more details.
|
|
//
|
|
// You should have received a copy of the GNU General Public License
|
|
// along with this program; if not, write to the Free Software Foundation,
|
|
// Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
|
|
|
|
#ifndef PHYSICS_CONVERT_H
|
|
#define PHYSICS_CONVERT_H
|
|
|
|
#include <wfmath/point.h>
|
|
#include <wfmath/vector.h>
|
|
#include <wfmath/axisbox.h>
|
|
#include <wfmath/quaternion.h>
|
|
#include <wfmath/const.h>
|
|
|
|
#include <LinearMath/btVector3.h>
|
|
#include <LinearMath/btQuaternion.h>
|
|
#include <cassert>
|
|
#include <ostream>
|
|
|
|
/**
|
|
* Output operator for streams, to help with logging only.
|
|
*/
|
|
std::ostream& operator<<(std::ostream& os, const btVector3& m);
|
|
|
|
class Convert {
|
|
public:
|
|
static btVector3 toBullet(const WFMath::Vector<3>& p);
|
|
static btVector3 toBullet(const WFMath::Point<3>& p);
|
|
|
|
static btQuaternion toBullet(const WFMath::Quaternion& aq);
|
|
|
|
template<typename T>
|
|
static T toWF(const btVector3& p);
|
|
static WFMath::Quaternion toWF(const btQuaternion& aq);
|
|
|
|
};
|
|
|
|
///Implementations
|
|
|
|
inline btVector3 Convert::toBullet(const WFMath::Vector<3>& p)
|
|
{
|
|
assert(p.isValid() && "Never convert an invalid WFMath point into Bullet as there will only be pain on the other side.");
|
|
return {p.x(), p.y(), p.z()};
|
|
}
|
|
|
|
inline btVector3 Convert::toBullet(const WFMath::Point<3>& p)
|
|
{
|
|
assert(p.isValid() && "Never convert an invalid WFMath point into Bullet as there will only be pain on the other side.");
|
|
return {p.x(), p.y(), p.z()};
|
|
}
|
|
|
|
inline btQuaternion Convert::toBullet(const WFMath::Quaternion& aq)
|
|
{
|
|
assert(aq.isValid() && "Never convert an invalid WFMath quaternion into Bullet as there will only be pain on the other side.");
|
|
return {aq.vector().x(), aq.vector().y(), aq.vector().z(), aq.scalar()};
|
|
}
|
|
|
|
template<>
|
|
inline WFMath::Point<3> Convert::toWF<WFMath::Point<3>>(const btVector3& p)
|
|
{
|
|
assert(std::isfinite(p.x()));
|
|
assert(std::isfinite(p.y()));
|
|
assert(std::isfinite(p.z()));
|
|
return WFMath::Point<3>(p.x(), p.y(), p.z());
|
|
}
|
|
|
|
template<>
|
|
inline WFMath::Vector<3> Convert::toWF<WFMath::Vector<3>>(const btVector3& p)
|
|
{
|
|
assert(std::isfinite(p.x()));
|
|
assert(std::isfinite(p.y()));
|
|
assert(std::isfinite(p.z()));
|
|
return WFMath::Vector<3>(p.x(), p.y(), p.z());
|
|
}
|
|
|
|
inline WFMath::Quaternion Convert::toWF(const btQuaternion& aq)
|
|
{
|
|
assert(std::isfinite(aq.x()));
|
|
assert(std::isfinite(aq.y()));
|
|
assert(std::isfinite(aq.z()));
|
|
assert(std::isfinite(aq.w()));
|
|
return WFMath::Quaternion(aq.w(), aq.x(), aq.y(), aq.z());
|
|
}
|
|
|
|
inline std::ostream& operator<<(std::ostream& os, const btVector3& m)
|
|
{
|
|
os << "x: " << m.x() << " y: " << m.y() << " z: " << m.z();
|
|
return os;
|
|
}
|
|
|
|
|
|
#endif //PHYSICS_CONVERT_H
|