csVector3 csBulletPivotJoint::GetPosition () const
{
if (!constraint)
return csVector3 (0.0f);
return BulletToCS (constraint->getPivotInB (), dynSys->inverseInternalScale);
}
csVector3 csBulletRigidBody::GetLinearVelocity (size_t index /* = 0 */) const
{
if (!btBody)
return linearVelocity;
const btVector3& vel = btBody->getLinearVelocity ();
return BulletToCS (vel, system->getInverseInternalScale ());
}
bool csBulletCollider::GetBoxGeometry (csVector3& size)
{
if (geomType != BOX_COLLIDER_GEOMETRY)
return false;
btBoxShape* geometry = static_cast<btBoxShape*> (shape);
btVector3 btSize = geometry->getHalfExtentsWithMargin ();
size.Set (BulletToCS (btSize, dynSys->inverseInternalScale));
size *= 2.0f;
return true;
}
bool csBulletCollider::GetConvexMeshGeometry (csVector3*& vertices, size_t& vertexCount,
int*& indices, size_t& triangleCount)
{
if (geomType != CONVEXMESH_COLLIDER_GEOMETRY)
return false;
triangleCount = this->triangleCount;
delete[] indices;
indices = new int[this->triangleCount * 3];
for (unsigned int i = 0; i < triangleCount * 3; i++)
indices[i] = this->indices[i];
vertexCount = this->vertexCount;
delete[] vertices;
vertices = new csVector3[this->vertexCount];
for (unsigned int i = 0; i < vertexCount; i++)
vertices[i].Set (BulletToCS (this->vertices[i], dynSys->inverseInternalScale));
return true;
}
