bullet.i

// Copyright (c) 2013 Adobe Systems Inc

// 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 "btBulletDynamicsCommon.h"
#include "btBulletCollisionCommon.h"
#include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
#ifdef USE_PTHREADS
#include "BulletMultiThreaded/PosixThreadSupport.h"
#include "BulletMultiThreaded/btThreadSupportInterface.h"
#include "BulletMultiThreaded/btParallelConstraintSolver.h"
#include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
#endif
#include <math.h>
#include <AS3/AS3.h>

inline btVector3 QuaternionToEuler(const btQuaternion &q) {
	btScalar X = q.getX();
	btScalar Y = q.getY();
	btScalar Z = q.getZ();
	btScalar W = q.getW();
	btScalar XX = X * X;
	btScalar YY = Y * Y;
	btScalar ZZ = Z * Z;
	btScalar WW = W * W;

	btVector3 result;
	result.setX(atan2f(2.0f * (Y * Z + X * W), -XX - YY + ZZ + WW));
	result.setY(asinf(-2.0f * (X * Z - Y * W)));
	result.setZ(atan2f(2.0f * (X * Y + Z * W), XX - YY - ZZ + WW));
	result *= 180.0/M_PI;
	return result;
}

void positionAndRotateMesh() __attribute__((used,
	annotate("as3sig:public function positionAndRotateMesh(mesh:*, rigidBody:*):void"),
	annotate("as3package:org.bulletphysics"),
	annotate("as3import:flash.geom.Vector3D")));

void positionAndRotateMesh()
{
	btRigidBody *rb = NULL;
	AS3_GetScalarFromVar(rb, rigidBody.swigCPtr);

	btMotionState *ms = rb->getMotionState();

	btTransform trans;
	ms->getWorldTransform(trans);
	btVector3 pos = trans.getOrigin();

	AS3_CopyScalarToVar(mesh.x, pos.getX());
	AS3_CopyScalarToVar(mesh.y, pos.getY());
	AS3_CopyScalarToVar(mesh.z, pos.getZ());

	btVector3 eulerAngles = QuaternionToEuler(trans.getRotation());
	AS3_CopyScalarToVar(mesh.rotationX, eulerAngles.getX());
	AS3_CopyScalarToVar(mesh.rotationY, eulerAngles.getY());
	AS3_CopyScalarToVar(mesh.rotationZ, eulerAngles.getZ());
}

#ifdef USE_PTHREADS
SpuGatheringCollisionDispatcher* createThreadedDispatcher(btDefaultCollisionConfiguration *collisionConfig, int numTasks)
{
	PosixThreadSupport::ThreadConstructionInfo ctci("collision",
								processCollisionTask,
								createCollisionLocalStoreMemory,
								numTasks);

	btThreadSupportInterface *tsi = new PosixThreadSupport(ctci);
    
    return new SpuGatheringCollisionDispatcher(tsi, numTasks, collisionConfig);
}

btParallelConstraintSolver* createThreadedSolver(int numTasks)
{
	PosixThreadSupport::ThreadConstructionInfo stci("solver",
								SolverThreadFunc,
								SolverlsMemoryFunc,
								numTasks);

	btThreadSupportInterface *tsi = new PosixThreadSupport(stci);
    
    return new btParallelConstraintSolver(tsi);
}
#endif

%}

// Deal with overloaded copy constructors
%ignore btTransform(const btTransform&);
%ignore btClock(const btClock&);

// TODO: these cause problems due to overloaded methods not being detected
// as overloaded by swig. Ignore for now.
%ignore getCollisionShape;
%ignore setValue;

// Declared in bullet headers but never defined
%ignore Enter_Largest_Child;

%include "LinearMath/btScalar.h"

///Bullet's btCollisionWorld and btCollisionObject definitions
%include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
%include "BulletCollision/CollisionDispatch/btCollisionObject.h"

///Collision Shapes
%include "BulletCollision/CollisionShapes/btCollisionShape.h"
%include "BulletCollision/CollisionShapes/btBoxShape.h"
%include "BulletCollision/CollisionShapes/btSphereShape.h"
%include "BulletCollision/CollisionShapes/btCapsuleShape.h"
%include "BulletCollision/CollisionShapes/btCylinderShape.h"
%include "BulletCollision/CollisionShapes/btConeShape.h"
%include "BulletCollision/CollisionShapes/btStaticPlaneShape.h"
%include "BulletCollision/CollisionShapes/btConvexHullShape.h"
%include "BulletCollision/CollisionShapes/btTriangleMesh.h"
%include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
%include "BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h"
%include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
%include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
%include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
%include "BulletCollision/CollisionShapes/btCompoundShape.h"
%include "BulletCollision/CollisionShapes/btTetrahedronShape.h"
%include "BulletCollision/CollisionShapes/btEmptyShape.h"
%include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
%include "BulletCollision/CollisionShapes/btUniformScalingShape.h"

///Narrowphase Collision Detector
%include "BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h"

//btSphereBoxCollisionAlgorithm is broken, use gjk for now
%include "BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h"
%include "BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h"

///Dispatching and generation of collision pairs (broadphase)
%include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
%include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
%include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
%include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
//%include "BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h"
%include "BulletCollision/BroadphaseCollision/btDbvtBroadphase.h"

///Math library & Utils
%include "LinearMath/btQuadWord.h"
%include "LinearMath/btQuaternion.h"
%include "LinearMath/btTransform.h"
%include "LinearMath/btDefaultMotionState.h"
%include "LinearMath/btQuickprof.h"
%include "LinearMath/btIDebugDraw.h"
%include "LinearMath/btSerializer.h"
%include "LinearMath/btVector3.h"

%include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
%include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
%include "BulletDynamics/Dynamics/btRigidBody.h"

%{
typedef btRigidBody::btRigidBodyConstructionInfo btRigidBodyConstructionInfo;
%}
// This is necessary because swig can't handle the nested struct
struct	btRigidBodyConstructionInfo
{
	btScalar			m_mass;

	///When a motionState is provided, the rigid body will initialize its world transform from the motion state
	///In this case, m_startWorldTransform is ignored.
	btMotionState*		m_motionState;
	btTransform	m_startWorldTransform;

	btCollisionShape*	m_collisionShape;
	btVector3			m_localInertia;
	btScalar			m_linearDamping;
	btScalar			m_angularDamping;

	///best simulation results when friction is non-zero
	btScalar			m_friction;
	///best simulation results using zero restitution.
	btScalar			m_restitution;

	btScalar			m_linearSleepingThreshold;
	btScalar			m_angularSleepingThreshold;

	//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
	//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
	bool				m_additionalDamping;
	btScalar			m_additionalDampingFactor;
	btScalar			m_additionalLinearDampingThresholdSqr;
	btScalar			m_additionalAngularDampingThresholdSqr;
	btScalar			m_additionalAngularDampingFactor;

	btRigidBodyConstructionInfo(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
	m_mass(mass),
		m_motionState(motionState),
		m_collisionShape(collisionShape),
		m_localInertia(localInertia),
		m_linearDamping(btScalar(0.)),
		m_angularDamping(btScalar(0.)),
		m_friction(btScalar(0.5)),
		m_restitution(btScalar(0.)),
		m_linearSleepingThreshold(btScalar(0.8)),
		m_angularSleepingThreshold(btScalar(1.f)),
		m_additionalDamping(false),
		m_additionalDampingFactor(btScalar(0.005)),
		m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
		m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
		m_additionalAngularDampingFactor(btScalar(0.01))
	{
		m_startWorldTransform.setIdentity();
	}
};

// Threading!
#ifdef USE_PTHREADS
%include "BulletMultiThreaded/PosixThreadSupport.h"
%include "BulletMultiThreaded/btThreadSupportInterface.h"
%include "BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
%include "BulletMultiThreaded/btParallelConstraintSolver.h"
%include "BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"

%{
typedef PosixThreadSupport::ThreadConstructionInfo ThreadConstructionInfo;
%}


struct	ThreadConstructionInfo
{
	ThreadConstructionInfo(const char* uniqueName,
								PosixThreadFunc userThreadFunc,
								PosixlsMemorySetupFunc	lsMemoryFunc,
								int numThreads=1,
								int threadStackSize=65535
								)
								:m_uniqueName(uniqueName),
								m_userThreadFunc(userThreadFunc),
								m_lsMemoryFunc(lsMemoryFunc),
								m_numThreads(numThreads),
								m_threadStackSize(threadStackSize)
	{

	}

	const char*					m_uniqueName;
	PosixThreadFunc			m_userThreadFunc;
	PosixlsMemorySetupFunc	m_lsMemoryFunc;
	int						m_numThreads;
	int						m_threadStackSize;

};


SpuGatheringCollisionDispatcher* createThreadedDispatcher(btDefaultCollisionConfiguration *collisionConfig, int numTasks);
btParallelConstraintSolver* createThreadedSolver(int numTasks);
#endif