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added contactPairTest, convexSweepTest, masks and groups for ray/conv…
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…ex callbacks
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Kuang11 committed Aug 15, 2014
1 parent 9c7f353 commit b8bc641
Showing 1 changed file with 178 additions and 6 deletions.
184 changes: 178 additions & 6 deletions ammo.idl
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ btQuaternion implements btQuadWord;

interface btMatrix3x3 {
void setEulerZYX(float ex, float ey, float ez);
void getRotation([Ref] btQuaternion q);
};

interface btTransform {
Expand All @@ -63,6 +64,7 @@ interface btMotionState {

interface btDefaultMotionState {
void btDefaultMotionState([Ref] optional btTransform startTrans, [Ref] optional btTransform centerOfMassOffset);
[Value] attribute btTransform m_graphicsWorldTrans;
};
btDefaultMotionState implements btMotionState;

Expand All @@ -75,11 +77,14 @@ interface btCollisionObject {
void forceActivationState(long newState);
void activate(optional boolean forceActivation);
boolean isActive();
boolean isKinematicObject();
void setRestitution(float rest);
void setFriction(float frict);
[Ref] btTransform getWorldTransform();
long getCollisionFlags();
void setCollisionFlags(long flags);
void setWorldTransform ([Const,Ref] btTransform worldTrans);
void setCollisionShape (btCollisionShape collisionShape);
};

[NoDelete]
Expand All @@ -90,7 +95,8 @@ interface btCollisionObjectWrapper {
interface RayResultCallback {
// abstract base class, no constructor
boolean hasHit();

attribute short m_collisionFilterGroup;
attribute short m_collisionFilterMask;
[Const] attribute btCollisionObject m_collisionObject;
};

Expand Down Expand Up @@ -127,11 +133,56 @@ interface ConcreteContactResultCallback {
float addSingleResult([Ref] btManifoldPoint cp, [Const] btCollisionObjectWrapper colObj0Wrap, long partId0, long index0, [Const] btCollisionObjectWrapper colObj1Wrap, long partId1, long index1);
};

[Prefix="btCollisionWorld::"]
interface LocalShapeInfo {
attribute long m_shapePart;
attribute long m_triangleIndex;
};

[Prefix="btCollisionWorld::"]
interface LocalConvexResult {
void LocalConvexResult([Const] btCollisionObject hitCollisionObject, LocalShapeInfo localShapeInfo, [Const, Ref] btVector3 hitNormalLocal, [Const, Ref] btVector3 hitPointLocal, float hitFraction);
[Const] attribute btCollisionObject m_hitCollisionObject;
attribute LocalShapeInfo m_localShapeInfo;
[Value] attribute btVector3 m_hitNormalLocal;
[Value] attribute btVector3 m_hitPointLocal;
attribute float m_hitFraction;
};

[Prefix="btCollisionWorld::"]
interface ConvexResultCallback {
// abstract base class, no constructor
boolean hasHit();
attribute short m_collisionFilterGroup;
attribute short m_collisionFilterMask;
attribute float m_closestHitFraction;
};

[Prefix="btCollisionWorld::"]
interface ClosestConvexResultCallback {
void ClosestConvexResultCallback([Const, Ref] btVector3 convexFromWorld, [Const, Ref] btVector3 convexToWorld);

[Value] attribute btVector3 m_convexFromWorld;
[Value] attribute btVector3 m_convexToWorld;
[Value] attribute btVector3 m_hitNormalWorld;
[Value] attribute btVector3 m_hitPointWorld;
};
ClosestConvexResultCallback implements ConvexResultCallback;

interface btCollisionShape {
void setLocalScaling([Const, Ref] btVector3 scaling);
void calculateLocalInertia(float mass, [Ref] btVector3 inertia);
};

interface btConvexShape {
};
btConvexShape implements btCollisionShape;

interface btConvexTriangleMeshShape {
void btConvexTriangleMeshShape(btStridingMeshInterface meshInterface, optional boolean calcAabb);
};
btConvexTriangleMeshShape implements btConvexShape;

interface btBoxShape {
void btBoxShape([Ref] btVector3 boxHalfExtents);
};
Expand Down Expand Up @@ -177,6 +228,12 @@ interface btConeShape {
};
btConeShape implements btCollisionShape;

interface btConvexHullShape {
void btConvexHullShape();
void addPoint([Const, Ref] btVector3 point, optional boolean recalculateLocalAABB);
};
btConvexHullShape implements btCollisionShape;

interface btConeShapeX {
void btConeShapeX(float radius, float height);
};
Expand Down Expand Up @@ -241,7 +298,11 @@ interface btCollisionDispatcher {
};
btCollisionDispatcher implements btDispatcher;

interface btOverlappingPairCallback {
};

interface btOverlappingPairCache {
void setInternalGhostPairCallback(btOverlappingPairCallback ghostPairCallback);
};

interface btAxisSweep3 {
Expand All @@ -258,6 +319,7 @@ interface btDbvtBroadphase {
void btDbvtBroadphase();
};


// Dynamics

[Prefix="btRigidBody::"]
Expand Down Expand Up @@ -288,8 +350,10 @@ interface btRigidBody {
void setLinearFactor([Const, Ref] btVector3 linearFactor);
void applyTorque([Const, Ref] btVector3 torque);
void applyForce([Const, Ref] btVector3 force, [Const, Ref] btVector3 rel_pos);
void applyCentralForce([Const, Ref] btVector3 force);
void applyTorqueImpulse([Const, Ref] btVector3 torque);
void applyImpulse([Const, Ref] btVector3 impulse, [Const, Ref] btVector3 rel_pos);
void applyCentralImpulse([Const, Ref] btVector3 impulse);
void updateInertiaTensor();
[Const, Ref] btVector3 getLinearVelocity();
[Const, Ref] btVector3 getAngularVelocity();
Expand All @@ -308,6 +372,10 @@ interface btConstraintSetting {
attribute float m_impulseClamp;
};

interface btTypedConstraint {
void enableFeedback(boolean needsFeedback);
};

interface btPoint2PointConstraint {
void btPoint2PointConstraint([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btVector3 pivotInA, [Ref] btVector3 pivotInB);
void btPoint2PointConstraint([Ref] btRigidBody rbA, [Ref] btVector3 pivotInA);
Expand All @@ -318,28 +386,78 @@ interface btPoint2PointConstraint {

[Value] attribute btConstraintSetting m_setting;
};
btPoint2PointConstraint implements btTypedConstraint;

interface btSequentialImpulseConstraintSolver {
void btSequentialImpulseConstraintSolver();
interface btGeneric6DofConstraint {
void btGeneric6DofConstraint([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btTransform frameInA, [Ref] btTransform frameInB, boolean useLinearFrameReferenceFrameA);
void btGeneric6DofConstraint([Ref] btRigidBody rbB, [Ref] btTransform frameInB, boolean useLinearFrameReferenceFrameB);
};

interface btTypedConstraint {
interface btSequentialImpulseConstraintSolver {
void btSequentialImpulseConstraintSolver();
};

interface btConeTwistConstraint {
void btConeTwistConstraint([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btTransform rbAFrame, [Ref] btTransform rbBFrame);
void btConeTwistConstraint([Ref] btRigidBody rbA, [Ref] btTransform rbAFrame);

void setLimit(long limitIndex, float limitValue);
void setAngularOnly(boolean angularOnly);
void setDamping(float damping);
void enableMotor(boolean b);
void setMaxMotorImpulse(float maxMotorImpulse);
void setMaxMotorImpulseNormalized(float maxMotorImpulse);
void setMotorTarget([Const,Ref] btQuaternion q);
void setMotorTargetInConstraintSpace([Const,Ref] btQuaternion q);
};
btConeTwistConstraint implements btTypedConstraint;

interface btHingeConstraint {
void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btVector3 pivotInA, [Ref] btVector3 pivotInB, [Ref] btVector3 axisInA, [Ref] btVector3 axisInB, optional boolean useReferenceFrameA);
//void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btVector3 pivotInA, [Ref] btVector3 axisInA, optional boolean useReferenceFrameA);
void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btTransform rbAFrame, [Ref] btTransform rbBFrame, optional boolean useReferenceFrameA);
void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btTransform rbAFrame, optional boolean useReferenceFrameA);

void setLimit(float low, float hight, float softness, float biasFactor, optional float relaxationFactor);
};
btHingeConstraint implements btTypedConstraint;

interface btSliderConstraint {
void btSliderConstraint([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Const,Ref] btTransform frameInA, [Const,Ref] btTransform frameInB, boolean useLinearReferenceFrameA);
void btSliderConstraint([Ref] btRigidBody rbB, [Const,Ref] btTransform frameInB, boolean uesLinearReferenceFrameA);
void setLowerLinLimit(float lowerLimit);
void setUpperLinLimit(float upperLimit);
void setLowerAngLimit(float lowerAngLimit);
void setUpperAngLimit(float upperAngLimit);
};
btSliderConstraint implements btTypedConstraint;

interface btConstraintSolver {
};

interface btDispatcherInfo {
attribute float m_timeStep;
attribute long m_stepCount;
attribute long m_dispatchFunc;
attribute float m_timeOfImpact;
attribute boolean m_useContinuous;
attribute boolean m_enableSatConvex;
attribute boolean m_enableSPU;
attribute boolean m_useEpa;
attribute float m_allowedCcdPenetration;
attribute boolean m_useConvexConservativeDistanceUtil;
attribute float m_convexConservativeDistanceThreshold;
};

interface btCollisionWorld {
btDispatcher getDispatcher();
void rayTest([Const, Ref] btVector3 rayFromWorld, [Const, Ref] btVector3 rayToWorld, [Ref] RayResultCallback resultCallback);
btOverlappingPairCache getPairCache();
[Ref] btDispatcherInfo getDispatchInfo();
void addCollisionObject(btCollisionObject collisionObject, optional short collisionFilterGroup, optional short collisionFilterMask);
[Const] btBroadphaseInterface getBroadphase ();
void convexSweepTest([Const] btConvexShape castShape, [Const, Ref] btTransform from, [Const, Ref] btTransform to, [Ref] ConvexResultCallback resultCallback, float allowedCcdPenetration);
void contactPairTest([Const] btCollisionObject colObjA, [Const] btCollisionObject colObjB, [Ref] ContactResultCallback resultCallback);
};

interface btDynamicsWorld {
Expand Down Expand Up @@ -367,6 +485,12 @@ btDiscreteDynamicsWorld implements btDynamicsWorld;
[Prefix="btRaycastVehicle::", NoDelete]
interface btVehicleTuning {
void btVehicleTuning();
attribute float m_suspensionStiffness;
attribute float m_suspensionCompression;
attribute float m_suspensionDamping;
attribute float m_maxSuspensionTravelCm;
attribute float m_frictionSlip;
attribute float m_maxSuspensionForce;
};

interface btVehicleRaycaster {
Expand All @@ -379,15 +503,45 @@ btDefaultVehicleRaycaster implements btVehicleRaycaster;

interface btWheelInfo {
attribute float m_suspensionStiffness;
attribute float m_wheelsDampingRelaxation;
attribute float m_wheelsDampingCompression;
attribute float m_frictionSlip;
attribute float m_rollInfluence;
attribute float m_suspensionRestLength1;
attribute float m_wheelsRadius;
attribute float m_wheelsDampingCompression;
attribute float m_wheelsDampingRelaxation;
attribute float m_steering;
attribute float m_maxSuspensionForce;
attribute float m_maxSuspensionTravelCm;
};

interface btActionInterface {
};

interface btKinematicCharacterController {
void btKinematicCharacterController(btPairCachingGhostObject ghostObject, btConvexShape convexShape, float stepHeight, optional long upAxis);

void setUpAxis (long axis);
void setWalkDirection ([Const,Ref] btVector3 walkDirection);
void setVelocityForTimeInterval ([Const,Ref] btVector3 velocity, float timeInterval);
//void reset ();
void warp ([Const, Ref]btVector3 origin);
void preStep (btCollisionWorld collisionWorld);
void playerStep (btCollisionWorld collisionWorld, float dt);
void setFallSpeed (float fallSpeed);
void setJumpSpeed (float jumpSpeed);
void setMaxJumpHeight (float maxJumpHeight);
boolean canJump ();
void jump ();
void setGravity (float gravity);
float getGravity ();
void setMaxSlope (float slopeRadians);
float getMaxSlope ();
btPairCachingGhostObject getGhostObject ();
void setUseGhostSweepTest (boolean useGhostObjectSweepTest);
boolean onGround ();
};
btKinematicCharacterController implements btActionInterface;

interface btRaycastVehicle {
void btRaycastVehicle([Const, Ref] btVehicleTuning tuning, btRigidBody chassis, btVehicleRaycaster raycaster);
void applyEngineForce(float force, long wheel);
Expand All @@ -402,3 +556,21 @@ interface btRaycastVehicle {
void setCoordinateSystem(long rightIndex, long upIndex, long forwardIndex);
};
btRaycastVehicle implements btActionInterface;

interface btGhostObject {
void btGhostObject();
long getNumOverlappingObjects();
btCollisionObject getOverlappingObject(long index);
};
btGhostObject implements btCollisionObject;

interface btPairCachingGhostObject {
void btPairCachingGhostObject();
};
btPairCachingGhostObject implements btGhostObject;

interface btGhostPairCallback {
void btGhostPairCallback();
};


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