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216 | with
physics.Space,
physics.Model;
private
with
bullet_c,
bullet_c.Pointers,
bullet_Physics.Object,
physics.Shape,
physics.Object,
physics.Joint.ball,
physics.Joint.slider,
physics.Joint.hinge,
physics.Joint.cone_twist,
physics.Joint.DoF6,
ada.Containers.hashed_Maps;
package bullet_Physics.Space
--
-- Provides a Bullet3D implementation of a physical space.
--
is
type Item is new physics.Space.item with private;
type View is access all Item'Class;
-- TODO: Place this in a nested Forge package.
function to_Space return Item;
overriding
function manifold_Count (Self : in Item) return Natural;
overriding
function Manifold (Self : access Item; Index : in Positive) return physics.space.a_Manifold;
private
function Hash (the_C_Object : in bullet_c.Pointers.Object_Pointer) return ada.Containers.Hash_type;
use type bullet_c.Pointers.Object_pointer;
use type bullet_Physics.Object.view;
package c_Object_Maps_of_Object is new ada.Containers.hashed_Maps (Key_type => bullet_c.Pointers.Object_Pointer,
Element_type => bullet_Physics.Object.view,
Hash => Hash,
equivalent_Keys => "=",
"=" => "=");
type Item is new physics.Space.item with
record
C : bullet_c.Pointers.Space_Pointer;
object_Map : c_Object_Maps_of_Object.Map;
end record;
use Math;
----------------
--- Joint Cursor
--
type joint_Cursor is new physics.Space.joint_Cursor with null record;
overriding
procedure next (Cursor : in out joint_Cursor);
overriding
function has_Element (Cursor : in joint_Cursor) return Boolean;
overriding
function Element (Cursor : in joint_Cursor) return physics.Joint.view;
overriding
function first_Joint (Self : in Item) return physics.Space.joint_Cursor'Class;
----------
--- Forge
--
overriding
procedure destruct (Self : in out Item);
---------
--- Shape
--
overriding
function new_Shape (Self : access Item; Model : in physics.Model.view) return physics.Shape.view;
overriding
function new_sphere_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
overriding
function new_box_Shape (Self : access Item; half_Extents : in Vector_3 := (0.5, 0.5, 0.5)) return physics.Shape.view;
overriding
function new_capsule_Shape (Self : access Item; Radius : in Real := 0.5;
Height : in Real) return physics.Shape.view;
overriding
function new_cone_Shape (Self : access Item; Radius : in Real := 0.5;
Height : in Real := 1.0) return physics.Shape.view;
overriding
function new_cylinder_Shape (Self : access Item; half_Extents : in Vector_3 := (0.5, 0.5, 0.5)) return physics.Shape.view;
overriding
function new_heightfield_Shape (Self : access Item; Heightfield : in out physics.Heightfield;
Scale : in Vector_3) return physics.Shape.view;
overriding
function new_multisphere_Shape (Self : access Item; Sites : in physics.Vector_3_array;
Radii : in Vector) return physics.Shape.view;
overriding
function new_plane_Shape (Self : access Item; Normal : in Vector_3 := (0.0, 1.0, 0.0);
Offset : in Real := 0.0) return physics.Shape.view;
overriding
function new_convex_hull_Shape (Self : access Item; Points : in physics.Vector_3_array) return physics.Shape.view;
overriding
function new_mesh_Shape (Self : access Item; Points : access Physics.Geometry_3D.a_Model) return physics.Shape.view;
overriding
function new_circle_Shape (Self : access Item; Radius : in Real := 0.5) return physics.Shape.view;
overriding
function new_polygon_Shape (Self : access Item; Vertices : in physics.Space.polygon_Vertices) return physics.Shape.view;
----------
--- Object
--
overriding
function new_Object (Self : access Item; of_Shape : in physics.Shape .view;
of_Mass : in Real;
Friction : in Real;
Restitution : in Real;
at_Site : in Vector_3;
is_Kinematic : in Boolean) return physics.Object.view;
overriding
function object_Count (Self : in Item) return Natural;
---------
--- Joint
--
overriding
function new_hinge_Joint (Self : access Item; Object_A,
Object_B : in physics.Object.view;
Anchor_in_A,
Anchor_in_B : in Vector_3;
pivot_Axis : in Vector_3;
low_Limit,
high_Limit : in Real;
collide_Connected : in Boolean) return physics.Joint.hinge.view;
overriding
function new_hinge_Joint (Self : access Item; Object_A,
Object_B : in physics.Object.view;
Frame_A,
Frame_B : in Matrix_4x4;
low_Limit,
high_Limit : in Real;
collide_Connected : in Boolean) return physics.Joint.hinge.view;
overriding
function new_hinge_Joint (Self : access Item; Object_A : in physics.Object.view;
Frame_A : in Matrix_4x4) return physics.Joint.hinge.view;
overriding
function new_DoF6_Joint (Self : access Item; Object_A,
Object_B : in physics.Object.view;
Frame_A,
Frame_B : in Matrix_4x4) return physics.Joint.DoF6.view;
overriding
function new_ball_Joint (Self : access Item; Object_A,
Object_B : in physics.Object.view;
Pivot_in_A,
Pivot_in_B : in Vector_3) return physics.Joint.ball.view;
overriding
function new_slider_Joint (Self : access Item; Object_A,
Object_B : in physics.Object.view;
Frame_A,
Frame_B : in Matrix_4x4) return physics.Joint.slider.view;
overriding
function new_cone_twist_Joint (Self : access Item;
Object_A,
Object_B : in physics.Object.view;
Frame_A,
Frame_B : in Matrix_4x4) return physics.Joint.cone_twist.view;
---------------
--- Operations
--
overriding
procedure add (Self : in out Item; Object : in physics.Object.view);
overriding
procedure rid (Self : in out Item; Object : in physics.Object.view);
overriding
function cast_Ray (Self : access Item; From,
To : in Vector_3) return physics.Space.ray_Collision;
overriding
procedure evolve (Self : in out Item; By : in Duration);
overriding
function Gravity (Self : in Item) return Vector_3;
overriding
procedure Gravity_is (Self : in out Item; Now : in Vector_3);
overriding
procedure add (Self : in out Item; Joint : in physics.Joint.view);
overriding
procedure rid (Self : in out Item; Joint : in physics.Joint.view);
overriding
procedure update_Bounds
(Self : in out Item; of_Obect : in physics.Object.view);
overriding
procedure set_Joint_local_Anchor
(Self : in out Item; the_Joint : in physics.Joint.view;
is_Anchor_A : in Boolean;
local_Anchor : in Vector_3);
end bullet_Physics.Space;
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