iSGL3D source added to Google Code.

git-svn-id: http://isgl3d.googlecode.com/svn/trunk@6 92988a87-13a2-556d-73fc-66728a54d5e9

isgl3dbullet/Isgl3dMotionState.h

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+/*
+ * iSGL3D: http://isgl3d.com
+ *
+ * Copyright (c) 2010-2011 Stuart Caunt
+ *
+ * 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.
+ *
+ */
+
+#ifndef ISGL3DMOTIONSTATE_H_
+#define ISGL3DMOTIONSTATE_H_
+
+#include <LinearMath/btTransform.h>
+#include <LinearMath/btMotionState.h>
+
+@class Isgl3dNode;
+
+/*
+ * The Isgl3dMotionState inherits from btMotionState and is passed in the constructor of a btRigidBody.
+ * The Isgl3dMotionState constructor takes an Isgl3dNode: this node corresponds to the rendered equivalent
+ * to the btRigidBody. This provides the bridging between the btRigidBody and the Isgl3dNode, allowing the 
+ * transformation from one to be passed to the other. During the simulation step of Bullet, the btMotionState
+ * allows direct access to the transformation of the physics object to update any graphical peers.
+ */
+class Isgl3dMotionState : public btMotionState {
+
+public :
+	Isgl3dMotionState(Isgl3dNode * sceneNode);
+	virtual ~Isgl3dMotionState();
+
+	/**
+	 * Gets the transformation of the the Isgl3dNode and applies it to the btRigidBody.
+	 * Called internally by the Bullet physics engine.
+	 */
+	virtual void getWorldTransform(btTransform& centerOfMassWorldTrans ) const;
+
+	/**
+	 * Gets the transformation of the the btRigidBody and applies it to the Isgl3dNode.
+	 * Called internally by the Bullet physics engine.
+	 */
+	virtual void setWorldTransform(const btTransform& centerOfMassWorldTrans);
+
+
+private :
+	Isgl3dNode * _node;
+
+};
+
+
+#endif /*ISGL3DMOTIONSTATE_H_*/

isgl3dbullet/Isgl3dMotionState.mm

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+/*
+ * iSGL3D: http://isgl3d.com
+ *
+ * Copyright (c) 2010-2011 Stuart Caunt
+ *
+ * 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.
+ *
+ */
+
+#import "Isgl3dMotionState.h"
+#import "Isgl3dNode.h"
+
+Isgl3dMotionState::Isgl3dMotionState(Isgl3dNode * node) :
+	_node(node) {
+}
+
+Isgl3dMotionState::~Isgl3dMotionState() {
+}
+
+void Isgl3dMotionState::getWorldTransform(btTransform& centerOfMassWorldTrans) const {
+	float transformation[16];
+	[_node getTransformationAsOpenGLMatrix:transformation];
+	centerOfMassWorldTrans.setFromOpenGLMatrix(transformation);
+}
+
+void Isgl3dMotionState::setWorldTransform(const btTransform& centerOfMassWorldTrans) {
+	float transformation[16];
+	centerOfMassWorldTrans.getOpenGLMatrix(transformation);
+	[_node setTransformationFromOpenGLMatrix:transformation];
+}

isgl3dbullet/Isgl3dPhysicsObject3D.h

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+/*
+ * iSGL3D: http://isgl3d.com
+ *
+ * Copyright (c) 2010-2011 Stuart Caunt
+ *
+ * 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.
+ *
+ */
+
+#import <Foundation/Foundation.h>
+
+@class Isgl3dNode;
+@class Isgl3dVector3D;
+class btRigidBody;
+
+/**
+ * The Isgl3dPhysicsObject3D contains both an Isgl3dNode and a btRigidBody providing a strong link between both
+ * the physicaly object and its rendered peer.
+ * 
+ * Note that when the Isgl3dPhysicsObject3D is deleted, the associated btRigidBody, the btCollisionShape and
+ * the btMotionState are also deleted. During construction, The Isgl3dNode is retained and when the
+ * Isgl3dPhysicsObject3D is deleted the Isgl3dNode is released.
+ */
+@interface Isgl3dPhysicsObject3D : NSObject {
+
+@private
+	Isgl3dNode * _node;
+	btRigidBody * _rigidBody;
+
+}
+
+/**
+ * Returns the associated Isgl3dNode.
+ */
+@property (readonly) Isgl3dNode * node;
+
+/**
+ * Returns the associated btRigidBody.
+ */
+@property (readonly) btRigidBody * rigidBody;
+
+/**
+ * Initialises the Isgl3dPhysicsObject3D with an Isgl3dNode and a btRigidBody.
+ * @param node The Isgl3dNode.
+ * @param rigidBody The btRigidBody.
+ */
+- (id) initWithNode:(Isgl3dNode *)node andRigidBody:(btRigidBody *)rigidBody;
+
+/**
+ * Applies a force, defined as a vector, to the btRigidBody at a given vector position.
+ * @param force The force to be applied.
+ * @param position The position at which the force is applied.
+ */
+- (void) applyForce:(Isgl3dVector3D *)force withPosition:(Isgl3dVector3D *)position;
+
+@end

isgl3dbullet/Isgl3dPhysicsObject3D.mm

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+/*
+ * iSGL3D: http://isgl3d.com
+ *
+ * Copyright (c) 2010-2011 Stuart Caunt
+ *
+ * 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.
+ *
+ */
+
+#import "Isgl3dPhysicsObject3D.h"
+#import "Isgl3dNode.h"
+#import "Isgl3dVector3D.h"
+
+#include "btBulletDynamicsCommon.h"
+
+@implementation Isgl3dPhysicsObject3D
+
+@synthesize node = _node;
+@synthesize rigidBody = _rigidBody;
+
+- (id) initWithNode:(Isgl3dNode *)node andRigidBody:(btRigidBody *)rigidBody {
+    if (self = [super init]) {
+    	_node = [node retain];
+    	_rigidBody = rigidBody;
+
+    }
+
+    return self;
+}
+
+- (void) dealloc {
+	[_node release];
+
+	delete _rigidBody->getMotionState();
+	delete _rigidBody->getCollisionShape();
+	delete _rigidBody;
+
+	[super dealloc];
+}
+
+- (void) applyForce:(Isgl3dVector3D *)force withPosition:(Isgl3dVector3D *)position {
+	btVector3 bodyForce(force.x, force.y, force.z);
+	btVector3 bodyPosition(position.x, position.y, position.z);
+
+	_rigidBody->applyForce(bodyForce, bodyPosition);	
+}
+
+@end

isgl3dbullet/Isgl3dPhysicsWorld.h

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+/*
+ * iSGL3D: http://isgl3d.com
+ *
+ * Copyright (c) 2010-2011 Stuart Caunt
+ *
+ * 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.
+ *
+ */
+
+#import "Isgl3dNode.h"
+
+@class Isgl3dPhysicsObject3D;
+class btRigidBody;
+class btDiscreteDynamicsWorld;
+class btCollisionShape;
+
+/**
+ * The Isgl3dPhysicsWorld provides a wrapper to the btDiscreteDynamicsWorld and contains all the Isgl3dPhysicsObject3D objects. 
+ * It inherits from Isgl3dNode so is added directly to the scene. At every frame it updates automatically the 
+ * btDiscreteDynamicsWorld (the physics simulation is updated) and hence the transformations of the physics
+ * objects (btRigidBody) are updated.
+ */
+@interface Isgl3dPhysicsWorld : Isgl3dNode {
+
+@private
+	btDiscreteDynamicsWorld * _discreteDynamicsWorld;
+
+	NSDate * _lastStepTime;
+	NSMutableArray * _physicsObjects;
+
+}
+
+/**
+ * Initialises the Isgl3dPhysicsWorld;
+ */
+- (id) init;
+
+/**
+ * Sets the btDiscreteDynamicsWorld in which the Bullet Physics simulation takes place. The btDiscreteDynamicsWorld is
+ * automatically stepped at every rendered frame.
+ */
+- (void) setDiscreteDynamicsWorld:(btDiscreteDynamicsWorld *)discreteDynamicsWorld;
+
+/**
+ * Adds a new Isgl3dPhysicsObject3D containing both a btRigidBody and an Isgl3dNode. Note, this DOES NOT add the
+ * node contained in the physics object to the scene: this needs to be done independently. The btRigidBody is
+ * added to the btDiscreteDynamicsWorld.
+ * @param physicsObject The Isgl3dPhysicsObject3D containing both btRigidBody and Isgl3dNode.
+ */
+- (void) addPhysicsObject:(Isgl3dPhysicsObject3D *)physicsObject;
+
+/**
+ * Removes an Isgl3dPhysicsObject3D from the physics world. Note, this DOES remove the associated Isgl3dNode
+ * from its parent node in the scene. The btRigidBody is removed from the btDiscreteDynamicsWorld.
+ * @param physicsObject The Isgl3dPhysicsObject3D to remove.
+ */
+- (void) removePhysicsObject:(Isgl3dPhysicsObject3D *)physicsObject;
+
+/**
+ * Sets the size and direction of gravity in the physics simulation.
+ * @param x The x component of the gravity vectory.
+ * @param y The y component of the gravity vectory.
+ * @param z The z component of the gravity vectory.
+ */
+- (void) setGravity:(float)x y:(float)y z:(float)z;
+
+/**
+ * Utility method to create an Isgl3dPhysicsObject3D from an Isgl3dNode and a btCollisionShape. A btRigidBody is created for
+ * the shape with an Isgl3dMotionShape containing the node. Both btRigidBody and Isgl3dNode are returned in the Isgl3dPhysicsObject3D.
+ * @param node The Isgl3dNode to be manipulated as a result of the physics simulation.
+ * @param shape The shape of the object.
+ * @param mass The mass of the object.
+ * @param restitution The restitution of the object.
+ * @return (autorelease) The created Isgl3dPhysicsObject3D containing the btRigidBody and the Isgl3dNode.
+ */
+- (Isgl3dPhysicsObject3D *) createPhysicsObject:(Isgl3dNode *)node shape:(btCollisionShape *)shape mass:(float)mass restitution:(float)restitution;
+
+@end