vectormath2bullet.h

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00001 /*
00002    Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
00003    All rights reserved.
00004 
00005    Redistribution and use in source and binary forms,
00006    with or without modification, are permitted provided that the
00007    following conditions are met:
00008     * Redistributions of source code must retain the above copyright
00009       notice, this list of conditions and the following disclaimer.
00010     * Redistributions in binary form must reproduce the above copyright
00011       notice, this list of conditions and the following disclaimer in the
00012       documentation and/or other materials provided with the distribution.
00013     * Neither the name of the Sony Computer Entertainment Inc nor the names
00014       of its contributors may be used to endorse or promote products derived
00015       from this software without specific prior written permission.
00016 
00017    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018    AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019    IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020    ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021    LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022    CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023    SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024    INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025    CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026    ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027    POSSIBILITY OF SUCH DAMAGE.
00028 */
00029 
00030 #ifndef BT_AOS_VECTORMATH_BULLET_CONVERT_H
00031 #define BT_AOS_VECTORMATH_BULLET_CONVERT_H
00032 
00033 #include "PlatformDefinitions.h"
00034 #include "LinearMath/btVector3.h"
00035 #include "LinearMath/btQuaternion.h"
00036 #include "LinearMath/btMatrix3x3.h"
00037 
00038 inline Vectormath::Aos::Vector3 getVmVector3(const btVector3& bulletVec)
00039 {
00040         return Vectormath::Aos::Vector3((float)bulletVec.getX(),(float)bulletVec.getY(),(float)bulletVec.getZ());
00041 }
00042 
00043 inline btVector3 getBtVector3(const Vectormath::Aos::Vector3& vmVec)
00044 {
00045         return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
00046 }
00047 inline btVector3 getBtVector3(const Vectormath::Aos::Point3& vmVec)
00048 {
00049         return btVector3(vmVec.getX(),vmVec.getY(),vmVec.getZ());
00050 }
00051 
00052 inline Vectormath::Aos::Quat    getVmQuat(const btQuaternion& bulletQuat)
00053 {
00054         Vectormath::Aos::Quat vmQuat((float)bulletQuat.getX(),(float)bulletQuat.getY(),(float)bulletQuat.getZ(),(float)bulletQuat.getW());
00055         return vmQuat;
00056 }
00057 
00058 inline btQuaternion     getBtQuat(const Vectormath::Aos::Quat& vmQuat)
00059 {
00060         return btQuaternion (vmQuat.getX(),vmQuat.getY(),vmQuat.getZ(),vmQuat.getW());
00061 }
00062 
00063 inline Vectormath::Aos::Matrix3 getVmMatrix3(const btMatrix3x3& btMat)
00064 {
00065         Vectormath::Aos::Matrix3 mat(
00066                 getVmVector3(btMat.getColumn(0)),
00067                 getVmVector3(btMat.getColumn(1)),
00068                 getVmVector3(btMat.getColumn(2)));
00069                 return mat;
00070 }
00071 
00072 
00073 #endif //BT_AOS_VECTORMATH_BULLET_CONVERT_H