bullethelper.cpp File Reference

#include <irrlicht.h>
#include <btBulletCollisionCommon.h>
#include <btBulletDynamicsCommon.h>
#include <math.h>
#include "bullethelper.h"
#include <cstdlib>
#include <iostream>

Functions
btVector3	toBulletVector (core::vector3df vec)
	Convert given Irrlicht vector3d vector to Bullect btVector3. More...
core::vector3df	toIrrlichtVector (btVector3 vec)
	Inverse of toBulletVector() More...
btQuaternion	EulerToQuaternion (const core::vector3df &euler)
	Convert given Irrlicht euler angle to Bullet quaternion angle. More...
core::vector3df	QuaternionToEuler (const btQuaternion &TQuat)
	Inverse of EulerToQuaternion() More...
f32	getRand (f32 maxValue, f32 offset)
	Get a random value. More...
f32 *	getMeshSize (scene::ISceneNode *mesh)
	Get a size of a 3D Irrlicth mesh. More...
video::SColor	randomColor ()
	Get random color. More...
int	sign (int x)
	Get sign of a integer. More...
core::stringc	vectorToString (core::vector3df vector)
	Used for logger. More...

Function Documentation

EulerToQuaternion()

btQuaternion EulerToQuaternion

(

const core::vector3df &

euler

)

Convert given Irrlicht euler angle to Bullet quaternion angle.

Parameters

euler

vector3df irrlicht euler angle(x,y,z)(pitch, yaw. roll)

Returns

Quaternion bullet angle

                                                          {
    btMatrix3x3 mat;
    mat.setIdentity();
    mat.setEulerYPR(euler.X*core::DEGTORAD64, euler.Y*core::DEGTORAD64, euler.Z*core::DEGTORAD64);
    btQuaternion quat;
    mat.getRotation(quat);
   return quat;
}

getMeshSize()

f32* getMeshSize

(

scene::ISceneNode *

mesh

)

Get a size of a 3D Irrlicth mesh.

Parameters

mesh	ISceneNode node to get the size

Returns

array of 3 float (X, Y, Z)

                                       {
   core::vector3df * edges = new core::vector3df[8];
   core::aabbox3df boundingbox = mesh->getTransformedBoundingBox();
   boundingbox.getEdges(edges);

   f32 height = edges[1].Y - edges[0].Y;

   f32 width = edges[5].X - edges[1].X;

   f32 depth = edges[2].Z - edges[0].Z;
   f32* arr = new f32[3];
   arr[0] = width;
   arr[1] = height;
   arr[2] = depth;
   return arr;
}

getRand()

f32 getRand	(	const f32	maxValue,
		const f32	offset = 0.f
	)

Get a random value.

Parameters

	maxValue f32 maximum value acceptable
offset	f32 offset to add to a generated value. Optional.

Returns

f32 generated number

                                     {
 return (f32)(rand() % (int)maxValue + offset);
}

QuaternionToEuler()

core::vector3df QuaternionToEuler

(

const btQuaternion &

TQuat

)

Inverse of EulerToQuaternion()

                                                           {
    btVector3 TEuler;
    btScalar W = TQuat.getW();
    btScalar X = TQuat.getX();
    btScalar Y = TQuat.getY();
    btScalar Z = TQuat.getZ();
    float WSquared = W * W;
    float XSquared = X * X;
    float YSquared = Y * Y;
    float ZSquared = Z * Z;

    TEuler.setX(atan2f(2.0f * (Y * Z + X * W), -XSquared - YSquared + ZSquared + WSquared));
    TEuler.setY(asinf(-2.0f * (X * Z - Y * W)));
    TEuler.setZ(atan2f(2.0f * (X * Y + Z * W), XSquared - YSquared - ZSquared + WSquared));
    TEuler *= core::RADTODEG;
    return toIrrlichtVector(TEuler);
}

randomColor()

video::SColor randomColor

(

)

Get random color.

There is predefined color palette. This because get rgba with some randomness is not a good idea because often you will get weird colors that will not suit in the graphic scene.

Returns

SColor in Irrlicht object

                         {
    video::SColor colors[10] = {
        video::SColor(255,0,0,255),
        video::SColor(255,0,255,0),
        video::SColor(255,255,0,0),
        video::SColor(255,247,0,115),
        video::SColor(255,29,171,226),
        video::SColor(255,255,255,0),
        video::SColor(255,0,255,255),
        video::SColor(255,255,255,255),
        video::SColor(255,255,123,0),
        video::SColor(255,171,111,232)
    };
        return colors[(int)getRand(10)];

}

sign()

int sign

(

int

x

)

Get sign of a integer.

Returns

-1 or 1

                {
    return (int(0) < x) - (x < int(0));
}

toBulletVector()

btVector3 toBulletVector

(

core::vector3df

vec

)

Convert given Irrlicht vector3d vector to Bullect btVector3.

Parameters

vec	vector3df Irrlicht vector

Returns

bullet btVector3

                                            {
    btVector3 vecBullet = btVector3((btScalar) vec.X,(btScalar) vec.Y,(btScalar) vec.Z);
    return vecBullet;
}

toIrrlichtVector()

core::vector3df toIrrlichtVector

(

btVector3

vec

)

Inverse of toBulletVector()

                                             {
    return core::vector3df(vec.getX(), vec.getY(), vec.getZ());
}

vectorToString()

core::stringc vectorToString

(

core::vector3df

vector

)

Used for logger.

Convert a vector to a string

Parameters

vector

vector3df vector to Convert

Returns

stringc string

                                                {
  core::stringc string = core::stringc(" ");
  string+=vector.X;
  string+=" ";
  string+=vector.Y;
  string+=" ";
  string+=vector.Z;
  string+=" ";
  return string.c_str();
}