added bullet physics library

.gitignore

@@ -36,3 +36,4 @@ ReleaseStatic
 /include/ffmpeg
 shiroLibs
 ReleaseVS2013
+/include/bullet

libs/bullet/README.md

@@ -0,0 +1,8 @@
+hlbullet
+========
+
+HLBullet is a binding for the Bullet3D Physics Library.
+http://bulletphysics.org
+
+Download the Bullet sources and put them in hashlink/include/bullet directory.
+

libs/bullet/bullet.cpp

@@ -0,0 +1,134 @@
+#define HL_NAME(x) bullet_##x
+#include <hl.h>
+#ifdef _WIN32
+#pragma warning(disable:4305)
+#pragma warning(disable:4244)
+#endif
+#include <btBulletDynamicsCommon.h>
+
+template <typename T> struct pref {
+	void *finalize;
+	T *value;
+};
+
+typedef pref<btDiscreteDynamicsWorld> World;
+typedef pref<btCollisionShape> Shape;
+typedef pref<btRigidBody> Body;
+
+template<typename T> pref<T> *alloc_ref( T *value, void (*finalize)( pref<T> * ) ) {
+	pref<T> *r = (pref<T>*)hl_gc_alloc_finalizer(sizeof(r));
+	r->finalize = finalize;
+	r->value = value;
+	return r;
+}
+
+// --- WORLD ----------------------------------------------------------------
+
+static void finalize_world( World *p ) {
+	btCollisionDispatcher *dispatch = (btCollisionDispatcher*)p->value->getDispatcher();	
+	delete dispatch->getCollisionConfiguration();
+	delete dispatch;
+	delete p->value->getBroadphase();
+	delete p->value->getConstraintSolver();
+	delete p->value;
+}
+
+HL_PRIM World *HL_NAME(create_world)() {
+	btDefaultCollisionConfiguration *config = new btDefaultCollisionConfiguration();
+	btCollisionDispatcher *dispatch = new btCollisionDispatcher(config);
+	btDbvtBroadphase *broad = new btDbvtBroadphase();
+	btSequentialImpulseConstraintSolver *solver = new btSequentialImpulseConstraintSolver();
+	btDiscreteDynamicsWorld *world = new btDiscreteDynamicsWorld(dispatch, broad, solver, config);
+	return alloc_ref(world, finalize_world);
+}
+
+HL_PRIM void HL_NAME(set_gravity)( World *w, double x, double y, double z ) {
+	w->value->setGravity(btVector3(x,y,z));
+}
+
+HL_PRIM void HL_NAME(step_simulation)( World *w, double time, int iterations ) {
+	w->value->stepSimulation(time,iterations);
+}
+
+HL_PRIM void HL_NAME(add_rigid_body)( World *w, Body *b ) {
+	w->value->addRigidBody(b->value);
+}
+
+HL_PRIM void HL_NAME(remove_rigid_body)( World *w, Body *b ) {
+	w->value->removeRigidBody(b->value);
+}
+
+#define _WORLD _ABSTRACT(bworld)
+#define _SHAPE _ABSTRACT(bshape)
+#define _BODY _ABSTRACT(bbody)
+
+DEFINE_PRIM(_WORLD, create_world, _NO_ARG);
+DEFINE_PRIM(_VOID, set_gravity, _WORLD _F64 _F64 _F64);
+DEFINE_PRIM(_VOID, step_simulation, _WORLD _F64 _I32);
+
+DEFINE_PRIM(_VOID, add_rigid_body, _WORLD _BODY);
+DEFINE_PRIM(_VOID, remove_rigid_body, _WORLD _BODY);
+
+// --- SHAPES ----------------------------------------------------------------
+
+static void finalize_shape( Shape *s ) {
+	delete s->value;
+}
+
+HL_PRIM Shape *HL_NAME(create_box_shape)( double sizeX, double sizeY, double sizeZ ) {
+	btCollisionShape *s = new btBoxShape(btVector3(sizeX*0.5,sizeY*0.5,sizeZ*0.5));
+	return alloc_ref(s, finalize_shape);
+}
+
+HL_PRIM Shape *HL_NAME(create_sphere_shape)( double radius ) {
+	btCollisionShape *s = new btSphereShape(radius);
+	return alloc_ref(s, finalize_shape);
+}
+
+DEFINE_PRIM(_SHAPE, create_box_shape, _F64 _F64 _F64);
+DEFINE_PRIM(_SHAPE, create_sphere_shape, _F64);
+
+// --- RIGID BODY ----------------------------------------------------------------
+
+static void finalize_body( Body *b ) {
+	delete b->value->getMotionState();
+	delete b->value;
+}
+
+HL_PRIM Body *HL_NAME(create_body)( Shape *shape, double mass ) {
+	btVector3 inertia(0, 0, 0);
+	btDefaultMotionState* state = new btDefaultMotionState();
+	if( mass != 0 ) shape->value->calculateLocalInertia(mass,inertia);
+	btRigidBody::btRigidBodyConstructionInfo info(mass, state, shape->value, inertia);
+	return alloc_ref(new btRigidBody(info), finalize_body);
+}
+
+HL_PRIM void HL_NAME(set_body_position)( Body *b, double x, double y, double z ) {
+	btTransform t = b->value->getCenterOfMassTransform();
+	t.setOrigin(btVector3(x,y,z));
+	b->value->setCenterOfMassTransform(t);
+}
+
+HL_PRIM void HL_NAME(set_body_rotation)( Body *b, double x, double y, double z, double w ) {
+	btTransform t = b->value->getCenterOfMassTransform();
+	t.setRotation(btQuaternion(x,y,z,w));
+	b->value->setCenterOfMassTransform(t);
+}
+
+HL_PRIM void HL_NAME(get_body_transform)( Body *b, double *data ) {
+	btTransform t = b->value->getCenterOfMassTransform();
+	btVector3 p = t.getOrigin();
+	btQuaternion q = t.getRotation();
+	*data++ = p.x();
+	*data++ = p.y();
+	*data++ = p.z();
+	*data++ = q.x();
+	*data++ = q.y();
+	*data++ = q.z();
+	*data++ = q.w();
+}
+
+DEFINE_PRIM(_BODY, create_body, _SHAPE _F64);
+DEFINE_PRIM(_VOID, set_body_position, _BODY _F64 _F64 _F64);
+DEFINE_PRIM(_VOID, set_body_rotation, _BODY _F64 _F64 _F64 _F64);
+DEFINE_PRIM(_VOID, get_body_transform, _BODY _BYTES);

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@@ -0,0 +1,640 @@
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+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\include\bullet\src\LinearMath\btStackAlloc.h">
+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\include\bullet\src\LinearMath\btThreads.h">
+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\include\bullet\src\LinearMath\btTransform.h">
+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\include\bullet\src\LinearMath\btTransformUtil.h">
+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+    <ClInclude Include="..\..\include\bullet\src\LinearMath\btVector3.h">
+      <Filter>Bullet\maths</Filter>
+    </ClInclude>
+  </ItemGroup>
+</Project>

libs/bullet/bullet/Body.hx

@@ -0,0 +1,55 @@
+package bullet;
+
+typedef BodyInst = hl.Abstract<"bbody">
+
+@:hlNative("bullet")
+class Body {
+
+	var inst : BodyInst;
+	var _pos = new h3d.col.Point();
+	var _q = new h3d.Quat();
+	var _tmp = new Array<Float>();
+	
+	public var shape(default,null) : Shape;
+	public var mass(default,null) : Float;
+	public var position(get,never) : h3d.col.Point;
+	public var rotation(get,never) : h3d.Quat;
+
+	public function new( shape : Shape, mass : Float ) {
+		inst = createBody(shape, mass);
+		this.shape = shape;
+		this.mass = mass;
+		_tmp[6] = 0.;
+	}
+	
+	public function setTransform( p : h3d.col.Point, ?q : h3d.Quat ) {
+		set_body_position(inst, p.x, p.y, p.z);
+		if( q != null ) set_body_rotation(inst, q.x, q.y, q.z, q.w) else set_body_rotation(inst, 0, 0, 0, 1);
+	}
+	
+	function get_position() {
+		get_body_transform(inst, hl.Bytes.getArray(_tmp));
+		_pos.set(_tmp[0],_tmp[1],_tmp[2]);
+		return _pos;
+	}
+
+	function get_rotation() {
+		get_body_transform(inst, hl.Bytes.getArray(_tmp));
+		_q.set(_tmp[3],_tmp[4],_tmp[5],_tmp[6]);
+		return _q;
+	}
+
+	static function set_body_position( b : BodyInst, x : Float, y : Float, z : Float ) {
+	}
+
+	static function set_body_rotation( b : BodyInst, x : Float, y : Float, z : Float, w : Float ) {
+	}
+
+	static function get_body_transform( b : BodyInst, bytes : hl.Bytes ) {
+	}
+	
+	static function createBody( s : Shape, mass : Float ) : BodyInst {
+		return null;
+	}
+	
+}

libs/bullet/bullet/Shape.hx

@@ -0,0 +1,15 @@
+package bullet;
+
+abstract Shape(hl.Abstract<"bshape">) {
+	
+	@:hlNative("bullet","create_box_shape")
+	public static function createBox( sizeX : Float, sizeY : Float, sizeZ : Float ) : Shape {
+		return null;
+	}
+
+	@:hlNative("bullet","create_sphere_shape")
+	public static function createSphere( radius : Float ) : Shape {
+		return null;
+	}
+
+}

libs/bullet/bullet/World.hx

@@ -0,0 +1,50 @@
+package bullet;
+
+typedef WorldInst = hl.Abstract<"bworld">
+
+@:hlNative("bullet")
+class World {
+
+	var inst : WorldInst;
+	var bodies : Array<Body> = [];
+
+	public function new() {
+		inst = createWorld();
+	}
+	
+	public function setGravity( x : Float, y : Float, z : Float ) {
+		set_gravity(inst, x, y, z);
+	}
+	
+	public function stepSimulation( time : Float, iterations : Int ) {
+		step_simulation(inst, time, iterations);
+	}
+	
+	public function addRigidBody( b : Body ) {
+		if( bodies.indexOf(b) >= 0 ) throw "Body already in world";
+		bodies.push(b);
+		add_rigid_body(inst, @:privateAccess b.inst);
+	}
+	
+	public function removeRigidBody( b : Body ) {
+		if( !bodies.remove(b) ) return;
+		remove_rigid_body(inst, @:privateAccess b.inst);
+	}
+	
+	static function createWorld() : WorldInst {
+		return null;
+	}
+	
+	static function set_gravity( w : WorldInst, x : Float, y : Float, z : Float ) {
+	}
+	
+	static function step_simulation( w : WorldInst, time : Float, iterations : Int ) {
+	}
+	
+	static function add_rigid_body( w : WorldInst, b : Body.BodyInst ) {
+	}
+
+	static function remove_rigid_body( w : WorldInst, b : Body.BodyInst ) {
+	}
+
+}

libs/bullet/sample/Main.hx

@@ -0,0 +1,60 @@
+
+class Main extends hxd.App {
+
+	var world : bullet.World;
+	var bodies : Array<{ b : bullet.Body, m : h3d.scene.Mesh }> = [];
+
+	override function init() {
+		world = new bullet.World();
+		world.setGravity(0,0,-9.81);
+
+		var floor = new bullet.Body(bullet.Shape.createBox(100,100,1),0);
+		world.addRigidBody(floor);
+
+		var floorGfx = new h3d.prim.Cube(100, 100, 1);
+		floorGfx.translate( -50, -50, -0.5);
+		var floorMesh = new h3d.scene.Mesh(floorGfx, s3d);
+		floorMesh.material.color.setColor(0x800000);
+		bodies.push({ b : floor, m : floorMesh });
+
+		new h3d.scene.DirLight(new h3d.Vector(1, 2, -4));
+
+		var sp = bullet.Shape.createSphere(1);
+		var prim = new h3d.prim.Sphere(1,10,10);
+		prim.addNormals();
+		for( i in 0...20 ) {
+			var m = new h3d.scene.Mesh(prim, s3d);
+			m.x = Math.random() * 10;
+			m.y = Math.random() * 10;
+			m.z = 2 + Math.random() * 10;
+			var b = new bullet.Body(sp, 0.5);
+			b.setTransform(new h3d.col.Point(m.x, m.y, m.z));
+			world.addRigidBody(b);
+			bodies.push({ b : b, m : m });
+		}
+
+		for( b in bodies ) {
+			b.m.material.mainPass.enableLights = true;
+			b.m.material.shadows = true;
+		}
+
+		new h3d.scene.CameraController(80, s3d);
+	}
+
+	override function update(dt:Float) {
+		world.stepSimulation(dt / 60, 10);
+		for( b in bodies ) {
+			var pos = b.b.position;
+			var q = b.b.rotation;
+			b.m.x = pos.x;
+			b.m.y = pos.y;
+			b.m.z = pos.z;
+			b.m.setRotationQuat(q);
+		}
+	}
+
+	static function main() {
+		new Main();
+	}
+
+}

libs/bullet/sample/sample.hxml

@@ -0,0 +1,6 @@
+-lib heaps
+-lib hlbullet
+-lib hldx
+-hl sample.hl
+-main Main
+

libs/bullet/sample/sample.hxproj

@@ -0,0 +1,55 @@
+<?xml version="1.0" encoding="utf-8"?>
+<project version="2">
+  <!-- Output SWF options -->
+  <output>
+    <movie outputType="Application" />
+    <movie input="" />
+    <movie path="sample.hxml" />
+    <movie fps="0" />
+    <movie width="0" />
+    <movie height="0" />
+    <movie version="0" />
+    <movie minorVersion="0" />
+    <movie platform="hxml" />
+    <movie background="#000000" />
+  </output>
+  <!-- Other classes to be compiled into your SWF -->
+  <classpaths>
+    <class path="." />
+  </classpaths>
+  <!-- Build options -->
+  <build>
+    <option directives="" />
+    <option flashStrict="False" />
+    <option noInlineOnDebug="False" />
+    <option mainClass="Main" />
+    <option enabledebug="False" />
+    <option additional="-hl sample.hl" />
+  </build>
+  <!-- haxelib libraries -->
+  <haxelib>
+    <library name="heaps" />
+    <library name="hlbullet" />
+    <library name="hldx" />
+  </haxelib>
+  <!-- Class files to compile (other referenced classes will automatically be included) -->
+  <compileTargets>
+    <!-- example: <compile path="..." /> -->
+  </compileTargets>
+  <!-- Paths to exclude from the Project Explorer tree -->
+  <hiddenPaths>
+    <hidden path="obj" />
+  </hiddenPaths>
+  <!-- Executed before build -->
+  <preBuildCommand>cmd /c haxe $(OutputFile)</preBuildCommand>
+  <!-- Executed after build -->
+  <postBuildCommand alwaysRun="False" />
+  <!-- Other project options -->
+  <options>
+    <option showHiddenPaths="False" />
+    <option testMovie="Custom" />
+    <option testMovieCommand="hl sample.hl" />
+  </options>
+  <!-- Plugin storage -->
+  <storage />
+</project>