int DbvtAabbMm::Classify(Vector3 n, btScalar o, int s)
{
VECTOR3_CONV(n);
int ret = _native->Classify(VECTOR3_USE(n), o, s);
VECTOR3_DEL(n);
return ret;
}
MultiBody::MultiBody(int nLinks, btScalar mass, Vector3 inertia, bool fixedBase,
bool canSleep, bool multiDof)
{
VECTOR3_DEF(inertia);
_native = new btMultiBody(nLinks, mass, VECTOR3_USE(inertia), fixedBase, canSleep, multiDof);
VECTOR3_DEL(inertia);
}
StaticPlaneShape::StaticPlaneShape(Vector3 planeNormal, btScalar planeConstant)
: ConcaveShape(0)
{
VECTOR3_DEF(planeNormal);
UnmanagedPointer = new btStaticPlaneShape(VECTOR3_USE(planeNormal), planeConstant);
VECTOR3_DEL(planeNormal);
}
CylinderShapeZ::CylinderShapeZ(Vector3 halfExtents)
: CylinderShape((btCylinderShape*)0)
{
VECTOR3_CONV(halfExtents);
UnmanagedPointer = new btCylinderShapeZ(VECTOR3_USE(halfExtents));
VECTOR3_DEL(halfExtents);
}
CylinderShape::CylinderShape(Vector3 halfExtents)
: ConvexInternalShape(0)
{
VECTOR3_CONV(halfExtents);
UnmanagedPointer = new btCylinderShape(VECTOR3_USE(halfExtents));
VECTOR3_DEL(halfExtents);
}
Vector3 TriangleMeshShape::LocalGetSupportingVertexWithoutMargin(Vector3 vec)
{
VECTOR3_DEF(vec);
btVector3* vecOut = ALIGNED_NEW(btVector3);
TriangleMeshShape_LocalGetSupportingVertexWithoutMargin(Native, VECTOR3_PTR(vec), vecOut);
Vector3 vertex = Math::BtVector3ToVector3(vecOut); VECTOR3_DEL(vec);
ALIGNED_FREE(vecOut);
return vertex;
}
void MultiBodyLink::SetAxisTop(int dof, Vector3 axis)
{
VECTOR3_CONV(axis);
_native->setAxisTop(dof, VECTOR3_USE(axis));
VECTOR3_DEL(axis);
}
void MultiBody::AddLinkTorque(int i, Vector3 t)
{
VECTOR3_DEF(t);
_native->addLinkTorque(i, VECTOR3_USE(t));
VECTOR3_DEL(t);
}
void MultiBody::AddLinkForce(int i, Vector3 f)
{
VECTOR3_DEF(f);
_native->addLinkForce(i, VECTOR3_USE(f));
VECTOR3_DEL(f);
}
void MultiBody::AddBaseTorque(Vector3 t)
{
VECTOR3_DEF(t);
_native->addBaseTorque(VECTOR3_USE(t));
VECTOR3_DEL(t);
}
void MultiBody::AddBaseForce(Vector3 f)
{
VECTOR3_DEF(f);
_native->addBaseForce(VECTOR3_USE(f));
VECTOR3_DEL(f);
}
void MultibodyLink::SetAxisBottom(int dof, Vector3 axis)
{
VECTOR3_DEF(axis);
_native->setAxisBottom(dof, VECTOR3_USE(axis));
VECTOR3_DEL(axis);
}
