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/*************************************************************************/
/* bullet_types_converter.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "bullet_types_converter.h"
/**
@author AndreaCatania
*/
// ++ BULLET to GODOT ++++++++++
void B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
outVal[0] = inVal[0];
outVal[1] = inVal[1];
outVal[2] = inVal[2];
}
void INVERT_B_TO_G(btVector3 const &inVal, Vector3 &outVal) {
outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
}
void B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
B_TO_G(inVal[0], outVal[0]);
B_TO_G(inVal[1], outVal[1]);
B_TO_G(inVal[2], outVal[2]);
}
void INVERT_B_TO_G(btMatrix3x3 const &inVal, Basis &outVal) {
INVERT_B_TO_G(inVal[0], outVal[0]);
INVERT_B_TO_G(inVal[1], outVal[1]);
INVERT_B_TO_G(inVal[2], outVal[2]);
}
void B_TO_G(btTransform const &inVal, Transform &outVal) {
B_TO_G(inVal.getBasis(), outVal.basis);
B_TO_G(inVal.getOrigin(), outVal.origin);
}
// ++ GODOT to BULLET ++++++++++
void G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
outVal[0] = inVal[0];
outVal[1] = inVal[1];
outVal[2] = inVal[2];
}
void INVERT_G_TO_B(Vector3 const &inVal, btVector3 &outVal) {
outVal[0] = inVal[0] != 0. ? 1. / inVal[0] : 0.;
outVal[1] = inVal[1] != 0. ? 1. / inVal[1] : 0.;
outVal[2] = inVal[2] != 0. ? 1. / inVal[2] : 0.;
}
void G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
G_TO_B(inVal[0], outVal[0]);
G_TO_B(inVal[1], outVal[1]);
G_TO_B(inVal[2], outVal[2]);
}
void INVERT_G_TO_B(Basis const &inVal, btMatrix3x3 &outVal) {
INVERT_G_TO_B(inVal[0], outVal[0]);
INVERT_G_TO_B(inVal[1], outVal[1]);
INVERT_G_TO_B(inVal[2], outVal[2]);
}
void G_TO_B(Transform const &inVal, btTransform &outVal) {
G_TO_B(inVal.basis, outVal.getBasis());
G_TO_B(inVal.origin, outVal.getOrigin());
}
void UNSCALE_BT_BASIS(btTransform &scaledBasis) {
btMatrix3x3 &m(scaledBasis.getBasis());
btVector3 column0(m[0][0], m[1][0], m[2][0]);
btVector3 column1(m[0][1], m[1][1], m[2][1]);
btVector3 column2(m[0][2], m[1][2], m[2][2]);
column0.normalize();
column1.normalize();
column2.normalize();
m.setValue(column0[0], column1[0], column2[0], column0[1], column1[1], column2[1], column0[2], column1[2], column2[2]);
}
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