[10262] | 1 | /** |
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[11099] | 2 | * @file OgreBulletUtils.h |
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[10262] | 3 | * Copy-pasted from http://www.ogre3d.org/tikiwiki/BulletDebugDrawer&structure=Cookbook |
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| 4 | * This source code is released into the Public Domain. |
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| 5 | * |
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| 6 | * Modified by Fabian 'x3n' Landau |
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| 7 | */ |
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| 8 | |
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| 9 | #ifndef _OgreBulletUtils_H__ |
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| 10 | #define _OgreBulletUtils_H__ |
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| 11 | |
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| 12 | #include "tools/ToolsPrereqs.h" |
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[11071] | 13 | #include <OgreVector3.h> |
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| 14 | #include <OgreQuaternion.h> |
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| 15 | #include <OgreColourValue.h> |
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| 16 | #include <OgreMatrix3.h> |
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| 17 | #include <OgreMatrix4.h> |
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[10262] | 18 | |
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| 19 | namespace orxonox |
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| 20 | { |
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| 21 | inline btVector3 vector3(const Ogre::Vector3& V) |
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| 22 | { |
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| 23 | return btVector3(V.x, V.y, V.z); |
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| 24 | } |
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| 25 | |
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| 26 | inline Ogre::Vector3 vector3(const btVector3& V) |
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| 27 | { |
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| 28 | return Ogre::Vector3(V.x(), V.y(), V.z()); |
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| 29 | } |
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| 30 | |
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| 31 | inline btQuaternion quaternion(const Ogre::Quaternion& Q) |
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| 32 | { |
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| 33 | return btQuaternion(Q.x, Q.y, Q.z, Q.w); |
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| 34 | } |
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| 35 | |
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| 36 | inline Ogre::Quaternion quaternion(const btQuaternion& Q) |
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| 37 | { |
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| 38 | return Ogre::Quaternion(Q.w(), Q.x(), Q.y(), Q.z()); |
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| 39 | } |
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| 40 | |
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| 41 | inline Ogre::ColourValue colour(const btVector3& color, btScalar alpha) |
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| 42 | { |
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| 43 | Ogre::ColourValue c(color.getX(), color.getY(), color.getZ(), alpha); |
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| 44 | c.saturate(); |
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| 45 | return c; |
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| 46 | } |
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| 47 | |
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| 48 | inline Ogre::Matrix3 matrix3(const btMatrix3x3& matrix) |
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| 49 | { |
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[11071] | 50 | return Ogre::Matrix3( |
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[10262] | 51 | matrix[0][0], matrix[0][1], matrix[0][2], |
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| 52 | matrix[1][0], matrix[1][1], matrix[1][2], |
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| 53 | matrix[2][0], matrix[2][1], matrix[2][2] |
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| 54 | ); |
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| 55 | } |
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| 56 | |
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| 57 | inline Ogre::Matrix4 matrix4(const btTransform& transform) |
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| 58 | { |
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| 59 | const btMatrix3x3& rotation = transform.getBasis(); |
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| 60 | const btVector3& translation = transform.getOrigin(); |
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| 61 | |
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| 62 | Ogre::Matrix4 matrix4 = Ogre::Matrix4(matrix3(rotation)); |
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| 63 | matrix4.setTrans(vector3(translation)); |
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| 64 | return matrix4; |
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| 65 | } |
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| 66 | } |
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| 67 | |
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| 68 | #endif /* _OgreBulletUtils_H__ */ |
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