add get/setLinearVelocity + add convexHullShape

libs/cbullet/cbullet.cpp

@@ -430,6 +430,7 @@ CbtShapeHandle cbtShapeAllocate(int shape_type) {
         case CBT_SHAPE_TYPE_CONE: size = sizeof(btConeShape); break;
         case CBT_SHAPE_TYPE_CYLINDER: size = sizeof(btCylinderShape); break;
         case CBT_SHAPE_TYPE_COMPOUND: size = sizeof(btCompoundShape); break;
+        case CBT_SHAPE_TYPE_CONVEX_HULL: size = sizeof(btConvexHullShape); break;
         case CBT_SHAPE_TYPE_TRIANGLE_MESH:
             size = sizeof(btBvhTriangleMeshShape) + sizeof(btTriangleIndexVertexArray);
             break;
@@ -652,6 +653,26 @@ int cbtShapeConeGetUpAxis(CbtShapeHandle shape_handle) {
     return shape->getConeUpIndex();
 }
 
+void cbtShapeConvexHullCreate(CbtShapeHandle shape_handle, const float* points, int num_points, int stride){
+    assert(shape_handle && !cbtShapeIsCreated(shape_handle));
+    assert(cbtShapeGetType(shape_handle) == CBT_SHAPE_TYPE_CONVEX_HULL);
+    new (shape_handle) btConvexHullShape(points, num_points, stride);
+}
+
+void cbtShapeConvexHullAddPoint(CbtShapeHandle shape_handle, const CbtVector3 point, bool recalculate_local_aabb){
+    assert(shape_handle && cbtShapeIsCreated(shape_handle));
+    assert(cbtShapeGetType(shape_handle) == CBT_SHAPE_TYPE_CONVEX_HULL);
+    auto shape = (btConvexHullShape*)shape_handle;
+    shape->addPoint(btVector3(point[0], point[1], point[2]), recalculate_local_aabb);
+}
+
+void cbtShapeConvexHullRecalcLocalAabb(CbtShapeHandle shape_handle){
+    assert(shape_handle && cbtShapeIsCreated(shape_handle));
+    assert(cbtShapeGetType(shape_handle) == CBT_SHAPE_TYPE_CONVEX_HULL);
+    auto shape = (btConvexHullShape*)shape_handle;
+    shape->recalcLocalAabb();
+}
+
 void cbtShapeCompoundCreate(
     CbtShapeHandle shape_handle,
     bool enable_dynamic_aabb_tree,

libs/cbullet/cbullet.h

@@ -36,6 +36,7 @@
 #define CBT_SHAPE_TYPE_CYLINDER 13
 #define CBT_SHAPE_TYPE_COMPOUND 31
 #define CBT_SHAPE_TYPE_TRIANGLE_MESH 21
+#define CBT_SHAPE_TYPE_CONVEX_HULL 4
 
 // cbtConGetType, cbtConAllocate
 #define CBT_CONSTRAINT_TYPE_POINT2POINT 3
@@ -259,6 +260,10 @@ float cbtShapeConeGetRadius(CbtShapeHandle shape_handle);
 float cbtShapeConeGetHeight(CbtShapeHandle shape_handle);
 int cbtShapeConeGetUpAxis(CbtShapeHandle shape_handle);
 
+void cbtShapeConvexHullCreate(CbtShapeHandle shape_handle, const float* points, int num_points, int stride);
+void cbtShapeConvexHullAddPoint(CbtShapeHandle shape_handle, const CbtVector3 point, bool recalculate_local_aabb);
+void cbtShapeConvexHullRecalcLocalAabb(CbtShapeHandle shape_handle);
+
 void cbtShapeCompoundCreate(
     CbtShapeHandle shape_handle,
     bool enable_dynamic_aabb_tree, // true

src/zbullet.zig

@@ -12,6 +12,7 @@ pub const BoxShape = *align(@sizeOf(usize)) BoxShapeImpl;
 pub const SphereShape = *align(@sizeOf(usize)) SphereShapeImpl;
 pub const CapsuleShape = *align(@sizeOf(usize)) CapsuleShapeImpl;
 pub const CylinderShape = *align(@sizeOf(usize)) CylinderShapeImpl;
+pub const ConvexHullShape = *align(@sizeOf(usize)) ConvexHullShapeImpl;
 pub const CompoundShape = *align(@sizeOf(usize)) CompoundShapeImpl;
 pub const TriangleMeshShape = *align(@sizeOf(usize)) TriangleMeshShapeImpl;
 pub const Body = *align(@sizeOf(usize)) BodyImpl;
@@ -285,6 +286,7 @@ pub const ShapeType = enum(c_int) {
     cylinder = 13,
     compound = 31,
     trimesh = 21,
+    convex_hull = 4,
 };
 
 const ShapeImpl = opaque {
@@ -306,6 +308,7 @@ const ShapeImpl = opaque {
             .capsule,
             .cylinder,
             .compound,
+            .convex_hull
             => cbtShapeDestroy(shape),
             .trimesh => cbtShapeTriMeshDestroy(shape),
         }
@@ -561,6 +564,40 @@ const CylinderShapeImpl = opaque {
     extern fn cbtShapeCylinderGetUpAxis(capsule: CylinderShape) Axis;
 };
 
+const ConvexHullShapeImpl = opaque {
+    pub usingnamespace ShapeFunctions(ConvexHullShape);
+
+    fn alloc() ConvexHullShape {
+        return @as(ConvexHullShape, @ptrCast(ShapeImpl.alloc(.convex_hull)));
+    }
+
+    pub const create = cbtShapeConvexHullCreate;
+    extern fn cbtShapeConvexHullCreate(
+        convex_hull: ConvexHullShape,
+        points: ?*f32,
+        num_points: i32,
+        stride: i32,
+    ) void;
+
+    pub const recalcLocalAabb = cbtShapeConvexHullRecalcLocalAabb;
+    extern fn cbtShapeConvexHullRecalcLocalAabb(convex_hull: ConvexHullShape) void;
+
+    pub const addPoint = cbtShapeConvexHullAddPoint;
+    extern fn cbtShapeConvexHullAddPoint(convex_hull: ConvexHullShape, point: *const [3]f32, recalculate_local_aabb: bool) void;
+};
+
+pub fn initConvexHullShape(
+    args: struct {
+        points: ?*f32 = null,
+        num_points: i32 = 0,
+        stride: i32 = @sizeOf([3]f32),
+    },
+) ConvexHullShape {
+    const cshape = ConvexHullShapeImpl.alloc();
+    cshape.create(args.points, args.num_points, args.stride);
+    return cshape;
+}
+
 pub fn initCompoundShape(
     args: struct {
         enable_dynamic_aabb_tree: bool = true,
@@ -787,6 +824,12 @@ const BodyImpl = opaque {
     pub const setDamping = cbtBodySetDamping;
     extern fn cbtBodySetDamping(body: Body, linear: f32, angular: f32) void;
 
+    pub const setLinearVelocity = cbtBodySetLinearVelocity;
+    extern fn cbtBodySetLinearVelocity(body: Body, velocity: *const [3]f32) void;
+
+    pub const getLinearVelocity = cbtBodyGetLinearVelocity;
+    extern fn cbtBodyGetLinearVelocity(body: Body, velocity: *[3]f32) void;
+
     pub const setAngularFactor = cbtBodySetAngularFactor;
     extern fn cbtBodySetAngularFactor(body: Body, factor: *const [3]f32) void;