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Add new AddForce variant (AddForceAtPoint) and matrix-returning body …
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…functions
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@LPGhatguy
LPGhatguy committed Oct 23, 2024
1 parent 40766c5 commit 21aa3c4
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Showing 2 changed files with 40 additions and 23 deletions.
25 changes: 10 additions & 15 deletions JoltC/Functions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -650,9 +650,8 @@ JPC_API void JPC_Body_SetAngularVelocityClamped(JPC_Body* self, JPC_Vec3 inAngul
JPC_API JPC_Vec3 JPC_Body_GetPointVelocityCOM(const JPC_Body* self, JPC_Vec3 inPointRelativeToCOM);
JPC_API JPC_Vec3 JPC_Body_GetPointVelocity(const JPC_Body* self, JPC_RVec3 inPoint);
JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce);

// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);

// overload of Body::AddForce
JPC_API void JPC_Body_AddForceAtPoint(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);
JPC_API void JPC_Body_AddTorque(JPC_Body* self, JPC_Vec3 inTorque);
JPC_API JPC_Vec3 JPC_Body_GetAccumulatedForce(const JPC_Body* self);
JPC_API JPC_Vec3 JPC_Body_GetAccumulatedTorque(const JPC_Body* self);
Expand All @@ -670,13 +669,12 @@ JPC_API bool JPC_Body_IsCollisionCacheInvalid(const JPC_Body* self);
JPC_API const JPC_Shape* JPC_Body_GetShape(const JPC_Body* self);
JPC_API JPC_RVec3 JPC_Body_GetPosition(const JPC_Body* self);
JPC_API JPC_Quat JPC_Body_GetRotation(const JPC_Body* self);

// JPC_API RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);

JPC_API JPC_RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);
JPC_API JPC_RVec3 JPC_Body_GetCenterOfMassPosition(const JPC_Body* self);

// JPC_API RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
// JPC_API RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);
JPC_API JPC_RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
JPC_API JPC_RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);

// JPC_API const AABox & JPC_Body_GetWorldSpaceBounds(const JPC_Body* self);
// JPC_API const MotionProperties *JPC_Body_GetMotionProperties(const JPC_Body* self)
// JPC_API MotionProperties * JPC_Body_GetMotionProperties(JPC_Body* self);
Expand Down Expand Up @@ -749,10 +747,8 @@ JPC_API JPC_RVec3 JPC_BodyInterface_GetPosition(const JPC_BodyInterface *self, J
JPC_API JPC_RVec3 JPC_BodyInterface_GetCenterOfMassPosition(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
JPC_API void JPC_BodyInterface_SetRotation(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Quat inRotation, JPC_Activation inActivationMode);
JPC_API JPC_Quat JPC_BodyInterface_GetRotation(const JPC_BodyInterface *self, JPC_BodyID inBodyID);

// RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
// RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);

JPC_API JPC_RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
JPC_API JPC_RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
JPC_API void JPC_BodyInterface_MoveKinematic(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inTargetPosition, JPC_Quat inTargetRotation, float inDeltaTime);
JPC_API void JPC_BodyInterface_SetLinearAndAngularVelocity(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inLinearVelocity, JPC_Vec3 inAngularVelocity);
JPC_API void JPC_BodyInterface_GetLinearAndAngularVelocity(const JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 *outLinearVelocity, JPC_Vec3 *outAngularVelocity);
Expand All @@ -765,9 +761,8 @@ JPC_API JPC_Vec3 JPC_BodyInterface_GetAngularVelocity(const JPC_BodyInterface *s
JPC_API JPC_Vec3 JPC_BodyInterface_GetPointVelocity(const JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inPoint);
JPC_API void JPC_BodyInterface_SetPositionRotationAndVelocity(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inPosition, JPC_Quat inRotation, JPC_Vec3 inLinearVelocity, JPC_Vec3 inAngularVelocity);
JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce);

// JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);

// overload of BodyInterface::AddForce
JPC_API void JPC_BodyInterface_AddForceAtPoint(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);
JPC_API void JPC_BodyInterface_AddTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inTorque);
JPC_API void JPC_BodyInterface_AddForceAndTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_Vec3 inTorque);
JPC_API void JPC_BodyInterface_AddImpulse(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inImpulse);
Expand Down
38 changes: 30 additions & 8 deletions JoltC/JoltC.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1093,8 +1093,14 @@ JPC_API JPC_Vec3 JPC_Body_GetPointVelocity(const JPC_Body* self, JPC_RVec3 inPoi
return to_jpc(to_jph(self)->GetPointVelocity(to_jph(inPoint)));
}

// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce);
// JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition);
JPC_API void JPC_Body_AddForce(JPC_Body* self, JPC_Vec3 inForce) {
to_jph(self)->AddForce(to_jph(inForce));
}

// overload of Body::AddForce
JPC_API void JPC_Body_AddForceAtPoint(JPC_Body* self, JPC_Vec3 inForce, JPC_RVec3 inPosition) {
to_jph(self)->AddForce(to_jph(inForce), to_jph(inPosition));
}

JPC_API void JPC_Body_AddTorque(JPC_Body* self, JPC_Vec3 inTorque) {
to_jph(self)->AddTorque(to_jph(inTorque));
Expand Down Expand Up @@ -1164,14 +1170,22 @@ JPC_API JPC_Quat JPC_Body_GetRotation(const JPC_Body* self) {
return to_jpc(to_jph(self)->GetRotation());
}

// JPC_API RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self);
JPC_API JPC_RMat44 JPC_Body_GetWorldTransform(const JPC_Body* self) {
return to_jpc(to_jph(self)->GetWorldTransform());
}

JPC_API JPC_RVec3 JPC_Body_GetCenterOfMassPosition(const JPC_Body* self) {
return to_jpc(to_jph(self)->GetCenterOfMassPosition());
}

// JPC_API RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self);
// JPC_API RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self);
JPC_API JPC_RMat44 JPC_Body_GetCenterOfMassTransform(const JPC_Body* self) {
return to_jpc(to_jph(self)->GetCenterOfMassTransform());
}

JPC_API JPC_RMat44 JPC_Body_GetInverseCenterOfMassTransform(const JPC_Body* self) {
return to_jpc(to_jph(self)->GetInverseCenterOfMassTransform());
}

// JPC_API const AABox & JPC_Body_GetWorldSpaceBounds(const JPC_Body* self);
// JPC_API const MotionProperties *JPC_Body_GetMotionProperties(const JPC_Body* self)
// JPC_API MotionProperties * JPC_Body_GetMotionProperties(JPC_Body* self);
Expand Down Expand Up @@ -1352,8 +1366,13 @@ JPC_API JPC_Quat JPC_BodyInterface_GetRotation(const JPC_BodyInterface *self, JP
return to_jpc(to_jph(self)->GetRotation(to_jph(inBodyID)));
}

// RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
// RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID);
JPC_API JPC_RMat44 JPC_BodyInterface_GetWorldTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID) {
return to_jpc(to_jph(self)->GetWorldTransform(to_jph(inBodyID)));
}

JPC_API JPC_RMat44 JPC_BodyInterface_GetCenterOfMassTransform(const JPC_BodyInterface *self, JPC_BodyID inBodyID) {
return to_jpc(to_jph(self)->GetCenterOfMassTransform(to_jph(inBodyID)));
}

JPC_API void JPC_BodyInterface_MoveKinematic(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_RVec3 inTargetPosition, JPC_Quat inTargetRotation, float inDeltaTime) {
to_jph(self)->MoveKinematic(to_jph(inBodyID), to_jph(inTargetPosition), to_jph(inTargetRotation), inDeltaTime);
Expand Down Expand Up @@ -1409,7 +1428,10 @@ JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBo
to_jph(self)->AddForce(to_jph(inBodyID), to_jph(inForce));
}

// JPC_API void JPC_BodyInterface_AddForce(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint);
// overload of BodyInterface::AddForce
JPC_API void JPC_BodyInterface_AddForceAtPoint(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inForce, JPC_RVec3 inPoint) {
to_jph(self)->AddForce(to_jph(inBodyID), to_jph(inForce), to_jph(inPoint));
}

JPC_API void JPC_BodyInterface_AddTorque(JPC_BodyInterface *self, JPC_BodyID inBodyID, JPC_Vec3 inTorque) {
to_jph(self)->AddTorque(to_jph(inBodyID), to_jph(inTorque));
Expand Down

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