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| #include <stdio.h>
#include "erl_nif.h"
#include "btBulletDynamicsCommon.h"
#include "ColScene.h"
ColScene* g_scene;
static int get_number_f(ErlNifEnv *env, ERL_NIF_TERM eterm, double *f)
{
if (enif_get_double(env, eterm, f)) {
return 1;
}
else {
long n;
if (enif_get_long(env, eterm, &n)){
*f = (double)n;
return 1;
}
else {
return 0;
}
}
}
static int get_vector3(ErlNifEnv *env, ERL_NIF_TERM eterm, btVector3 *vector)
{
double x,y,z;
int arity;
const ERL_NIF_TERM *array;
if (enif_get_tuple(env, eterm, &arity, &array)
&& 3 == arity
&& get_number_f(env, array[0], &x)
&& get_number_f(env, array[1], &y)
&& get_number_f(env, array[2], &z)) {
vector->setX((btScalar)x);
vector->setY((btScalar)y);
vector->setZ((btScalar)z);
return 1;
}
else {
return 0;
}
}
static int get_vector4(ErlNifEnv *env, ERL_NIF_TERM eterm, btVector4 *vector)
{
double x,y,z,w;
int arity;
const ERL_NIF_TERM *array;
if (enif_get_tuple(env, eterm, &arity, &array)
&& 4 == arity
&& get_number_f(env, array[0], &x)
&& get_number_f(env, array[1], &y)
&& get_number_f(env, array[2], &z)
&& get_number_f(env, array[3], &w)) {
vector->setX((btScalar)x);
vector->setY((btScalar)y);
vector->setZ((btScalar)z);
vector->setW((btScalar)w);
return 1;
}
else {
return 0;
}
}
static int load(ErlNifEnv* env, void** priv, ERL_NIF_TERM load_info)
{
return 0;
}
static int upgrade(ErlNifEnv* env, void** priv_data, void** old_priv_data, ERL_NIF_TERM load_info)
{
return 0;
}
static ERL_NIF_TERM open_scene(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
if (!g_scene)
{
g_scene = new ColScene();
printf("init scene done\n");
}
return enif_make_atom(env, "ok");
}
static ERL_NIF_TERM close_scene(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
delete g_scene;
return enif_make_atom(env, "ok");
}
static ERL_NIF_TERM add_box(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
btVector3 boxHalf;
btVector3 bpos;
btVector4 rota;
if(
get_vector3(env, argv[0], &boxHalf) &&
get_vector3(env, argv[1], &bpos) &&
get_vector4(env, argv[2], &rota)
){
g_scene->addBox(boxHalf, bpos, rota, 0.);
return enif_make_atom(env, "ok");
}
return enif_make_atom(env, "undef");
}
static ERL_NIF_TERM add_sphere(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
double radius;
btVector3 bpos;
btVector4 rota;
if(
enif_get_double(env, argv[0], &radius) &&
get_vector3(env, argv[1], &bpos) &&
get_vector4(env, argv[2], &rota)
){
g_scene->addSphere(radius, bpos, rota, 0.);
return enif_make_atom(env, "ok");
}
return enif_make_atom(env, "undef");
}
static ERL_NIF_TERM add_cupsule(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
double radius;
double height;
btVector3 bpos;
btVector4 rota;
if(
enif_get_double(env, argv[0], &radius) &&
enif_get_double(env, argv[1], &height) &&
get_vector3(env, argv[2], &bpos) &&
get_vector4(env, argv[3], &rota)
){
g_scene->addCupsule(radius, height, bpos, rota, 0.);
return enif_make_atom(env, "ok");
}
return enif_make_atom(env, "undef");
}
static ERL_NIF_TERM add_mesh(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
int vtxCount;
int idxCount;
btVector3 bpos;
btVector4 rota;
double vt;
int id;
btScalar vtx[10240];
unsigned short idx[20480];
ERL_NIF_TERM head;
ERL_NIF_TERM tail;
tail = argv[2];
int i = 0;
while(enif_get_list_cell(env, tail, &head, &tail))
{
enif_get_double(env, head, &vt);
vtx[i] = (float)vt;
i++;
}
tail = argv[3];
i = 0;
while(enif_get_list_cell(env, tail, &head, &tail)){
enif_get_int(env, head, &id);
idx[i] = (unsigned short)id;
i++;
}
if(
enif_get_int(env, argv[0], &vtxCount) &&
enif_get_int(env, argv[1], &idxCount) &&
get_vector3(env, argv[4], &bpos) &&
get_vector4(env, argv[5], &rota)
){
g_scene->addTriMesh(vtxCount, idxCount,
vtx, idx,
bpos, rota, 0.f);
return enif_make_atom(env, "ok");
}
return enif_make_atom(env, "undef");
}
static ERL_NIF_TERM col_check_capsule(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
btVector3 posA;
btVector3 posB;
if (!get_vector3(env, argv[0], &posA))
return enif_make_badarg(env);
else
{
if (!get_vector3(env, argv[1], &posB))
return enif_make_badarg(env);
else
{
double radius;
enif_get_double(env, argv[3], &radius);
btCollisionObject* obj = g_scene->createCapsule(posA, posB, radius);
int shapType = g_scene->checkPos(obj);
if(shapType>0)
{
ERL_NIF_TERM termPos = enif_make_tuple3(env,
enif_make_double(env, g_scene->m_colPos->getX()),
enif_make_double(env, g_scene->m_colPos->getY()),
enif_make_double(env, g_scene->m_colPos->getZ()));
ERL_NIF_TERM terms = enif_make_tuple2(env,
enif_make_int(env, 1),
termPos);
return terms;
}
ERL_NIF_TERM termA = enif_make_tuple3(env,
enif_make_double(env, posA.getX()),
enif_make_double(env, posA.getY()),
enif_make_double(env, posA.getZ()));
ERL_NIF_TERM terms = enif_make_tuple2(env, enif_make_int(env, 0), termA);
return terms;
}
}
}
static ERL_NIF_TERM ray_hit(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[])
{
btVector3 from;
btVector3 to;
if (!get_vector3(env, argv[0], &from))
return enif_make_badarg(env);
else
{
if (!get_vector3(env, argv[1], &to))
return enif_make_badarg(env);
else
{
if(g_scene->rayHit(from, to))
{
ERL_NIF_TERM termPos = enif_make_tuple3(env,
enif_make_double(env, g_scene->m_colPos->getX()),
enif_make_double(env, g_scene->m_colPos->getY()),
enif_make_double(env, g_scene->m_colPos->getZ()));
ERL_NIF_TERM terms = enif_make_tuple2(env, enif_make_int(env, 1), termPos);
return terms;
}
ERL_NIF_TERM termA = enif_make_tuple3(env,
enif_make_double(env, from.getX()),
enif_make_double(env, from.getY()),
enif_make_double(env, from.getZ()));
ERL_NIF_TERM terms = enif_make_tuple2(env, enif_make_int(env, 0), termA);
return terms;
}
}
}
static ErlNifFunc nif_funcs[] = {
{"open_scene", 0, open_scene},
{"close_scene", 0, close_scene},
{"add_box", 3, add_box},
{"add_sphere", 3, add_sphere},
{"add_cupsule", 4, add_cupsule},
{"add_mesh", 6, add_mesh},
{"col_check_capsule", 3, col_check_capsule},
{"ray_hit", 2, ray_hit}
};
ERL_NIF_INIT(t_bullet, nif_funcs, load, NULL, upgrade, NULL)
|
