core bullet physics support,

initial vstrafe support

4 files changed, 38 insertions, 1 deletions

diff --git a/src/math/axis.cc b/src/math/axis.cc
index 8273469..7281047 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -35,6 +35,15 @@ void Axis::assign(const Axis & other)
 	}
 }
 
+void Axis::assign(const btMatrix3x3 & other)
+{
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			axis_vector[i][j] = other[i][j];
+		}
+	}
+}
+
 Axis & Axis::operator=(const Axis & other)
 {
 	assign(other);
diff --git a/src/math/axis.h b/src/math/axis.h
index c22568c..d3a5ec6 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -10,7 +10,7 @@
 #include <iostream>
 
 #include "math/vector3f.h"
-
+#include "LinearMath/btMatrix3x3.h"
 namespace math
 {
 
@@ -24,6 +24,8 @@ public:
 	void clear();
 
 	void assign(const Axis & other);
+	
+	void assign(const btMatrix3x3 & other);
 
 	/// global coordinates of the X-axis in the local coordinates system
 	inline const Vector3f & forward() const {
@@ -86,6 +88,14 @@ private:
 	Vector3f		axis_vector[3];
 };
 
+/// helper function to conver math::Axis to btMatrix3x3
+inline btMatrix3x3 to_btMatrix3x3(const math::Axis &a)
+{
+	return btMatrix3x3(a[0][0], a[0][1], a[0][2],
+			   a[1][0], a[1][1], a[1][2],
+			   a[2][0], a[2][1], a[2][2]);
+}
+
 /// write an axis to a std::ostream
 std::ostream &operator<<(std::ostream & os, const Axis & axis);
 
diff --git a/src/math/vector3f.cc b/src/math/vector3f.cc
index 4594665..421d84e 100644
--- a/src/math/vector3f.cc
+++ b/src/math/vector3f.cc
@@ -48,6 +48,13 @@ void Vector3f::assign(const Vector3f & other)
 	memcpy(coord, other.coord, sizeof(coord));
 }
 
+void Vector3f::assign(const btVector3 & other)
+{
+	for (size_t i = 0; i < 3; i++) {
+		coord[i] = other[i];
+	}
+}
+
 Vector3f & Vector3f::operator=(const Vector3f & other)
 {
 	assign(other);
diff --git a/src/math/vector3f.h b/src/math/vector3f.h
index 09e6e84..a7437aa 100644
--- a/src/math/vector3f.h
+++ b/src/math/vector3f.h
@@ -10,6 +10,8 @@
 #include <iostream>
 #include "math/vector3f.h"
 
+#include "LinearMath/btVector3.h"
+
 namespace math
 {
 
@@ -49,6 +51,9 @@ public:
 
 	/// assignment
 	void assign(const Vector3f & other);
+	
+	/// assign bullet btVector3 value
+	void assign(const btVector3 & other);
 
 	/// assignment operator
 	Vector3f& operator=(const Vector3f &other);
@@ -214,6 +219,12 @@ float distance(const Vector3f& first, const Vector3f& second);
 /// distance between two vectors squared
 float distancesquared(const Vector3f& first, const Vector3f& second);
 
+/// helper function to convert Vector3f to btVector3
+inline btVector3 to_btVector3(const math::Vector3f & v)
+{
+	return btVector3(v[0], v[1], v[2]);
+}
+
 } // namespace math
 
 #endif // __INCLUDED_MATH_VECTOR3F_H__