Changed destructors according to rust-lang/rust-bindgen#1133

Author: not-fl3

bulletrs-sys/src/bt_bullet_dynamics_common.rs

@@ -15507,7 +15507,7 @@ extern "C" {
     ) -> *mut btPersistentManifold;
 }
 extern "C" {
-    #[link_name = "\u{1}_ZN21btCollisionDispatcherD0Ev"]
+    #[link_name = "\u{1}_ZN21btCollisionDispatcherD1Ev"]
     pub fn btCollisionDispatcher_btCollisionDispatcher_destructor(this: *mut btCollisionDispatcher);
 }
 extern "C" {
@@ -32174,7 +32174,7 @@ impl btDbvtBroadphase {
     }
 }
 extern "C" {
-    #[link_name = "\u{1}_ZN16btDbvtBroadphaseD0Ev"]
+    #[link_name = "\u{1}_ZN16btDbvtBroadphaseD1Ev"]
     pub fn btDbvtBroadphase_btDbvtBroadphase_destructor(this: *mut btDbvtBroadphase);
 }
 extern "C" {
@@ -37709,7 +37709,7 @@ impl btRigidBody {
     }
 }
 extern "C" {
-    #[link_name = "\u{1}_ZN11btRigidBodyD0Ev"]
+    #[link_name = "\u{1}_ZN11btRigidBodyD1Ev"]
     pub fn btRigidBody_btRigidBody_destructor(this: *mut btRigidBody);
 }
 extern "C" {
@@ -53755,7 +53755,7 @@ extern "C" {
     ) -> btScalar;
 }
 extern "C" {
-    #[link_name = "\u{1}_ZN35btSequentialImpulseConstraintSolverD0Ev"]
+    #[link_name = "\u{1}_ZN35btSequentialImpulseConstraintSolverD1Ev"]
     pub fn btSequentialImpulseConstraintSolver_btSequentialImpulseConstraintSolver_destructor(
         this: *mut btSequentialImpulseConstraintSolver,
     );

examples/sphere.rs

@@ -43,6 +43,6 @@ fn main() {
 
     for _ in 0 .. 100 {
         dynamics_world.step(0.1, 0, 0.0);
-        println!("{:?}", fall_rigid_body.get_world_transform());
+        println!("{:?}", fall_rigid_body.get_world_position_and_orientation());
     }
 }

src/collision/broadphase_collision/mod.rs

@@ -8,7 +8,7 @@ pub enum BroadphaseInterface {
 }
 
 pub enum Broadphase {
-    DbvtBroadphase(Box<::sys::btDbvtBroadphase>),
+    DbvtBroadphase(Box<sys::btDbvtBroadphase>),
 }
 
 impl Broadphase {
@@ -33,7 +33,8 @@ impl Drop for Broadphase {
     fn drop(&mut self) {
         match self {
             &mut Broadphase::DbvtBroadphase(ref mut broadphase) => unsafe {
-                ::sys::btDbvtBroadphase_btDbvtBroadphase_destructor(&mut **broadphase as *mut _)
+                let broadphase : &mut sys::btDbvtBroadphase = &mut **broadphase;
+                ::sys::btDbvtBroadphase_btDbvtBroadphase_destructor(broadphase as *mut _);
             },
         }
     }

src/dynamics/rigid_body.rs

@@ -56,11 +56,20 @@ impl RigidBody {
         &*self.rigid_body as *const _ as *mut _
     }
 
-    pub fn set_restitution(&self, restitution : f64) {
-        unsafe { sys::btCollisionObject_setRestitution(self.as_ptr() as *mut _, restitution); }
+    pub fn set_restitution(&self, restitution: f64) {
+        unsafe {
+            sys::btCollisionObject_setRestitution(self.as_ptr() as *mut _, restitution);
+        }
     }
 
-    pub fn get_world_transform(&self) -> Vector3<f64> {
+    pub fn set_gravity<T: Into<Vector3<f64>>>(&self, gravity: T) {
+        let gravity: BulletVector3 = gravity.into().into();
+        unsafe {
+            sys::btRigidBody_setGravity(self.as_ptr() as *mut _, gravity.0.as_ptr() as *const _);
+        }
+    }
+
+    pub fn get_world_position_and_orientation(&self) -> (Vector3<f64>, Vector4<f64>) {
         unsafe {
             sys::btDefaultMotionState_getWorldTransform(
                 &*self.motion_state as *const _ as *mut _,
@@ -69,6 +78,11 @@ impl RigidBody {
         }
         let origin = unsafe { self.temp_transform.getOrigin1().as_ref().unwrap() };
 
-        Vector3::from_slice(&origin.m_floats[0..3])
+        let rotation = unsafe { self.temp_transform.getRotation() };
+
+        (
+            Vector3::from_slice(&origin.m_floats[0..3]),
+            Vector4::from_slice(&rotation._base.m_floats),
+        )
     }
 }

tests/bindgen.rs

@@ -3,7 +3,14 @@ extern crate bulletrs;
 use bulletrs::sys as bt;
 
 #[test]
-fn bindged_generated_test() {
+fn broadphase_destcutor() {
+    unsafe {
+        let mut broadphase = bt::btDbvtBroadphase::new(std::ptr::null_mut());
+        bt::btDbvtBroadphase_btDbvtBroadphase_destructor(&mut broadphase as *mut _);
+    }
+}
+#[test]
+fn bindgen_generated_test() {
     unsafe {
         let mut broadphase = bt::btDbvtBroadphase::new(std::ptr::null_mut());
         let info = bt::btDefaultCollisionConstructionInfo::new();

tests/gravity.rs

@@ -0,0 +1,53 @@
+extern crate bulletrs;
+extern crate cgmath;
+
+use cgmath::{Vector3, Vector4};
+
+use bulletrs::*;
+
+#[test()]
+fn set_gravity() {
+    let configuration = CollisionConfiguration::new_default();
+
+    let dynamics_world = DynamicsWorld::new_discrete_world(
+        CollisionDispatcher::new(&configuration),
+        Broadphase::new(BroadphaseInterface::DbvtBroadphase),
+        ConstraintSolver::new(),
+        configuration,
+    );
+
+    dynamics_world.set_gravity(Vector3::new(0.0, -10.0, 0.0));
+
+    let shape = Shape::new_sphere(2.0);
+    let mass = 0.1;
+    let body1 = RigidBody::new(
+        mass,
+        shape.calculate_local_inertia(mass),
+        shape,
+        Vector3::new(4.0, 2.0, 0.0),
+        Vector4::new(0.0, 0.0, 0.0, 1.0),
+    );
+    dynamics_world.add_rigid_body(&body1);
+
+    let shape2 = Shape::new_sphere(2.0);
+    let mass = 0.1;
+    let body2 = RigidBody::new(
+        mass,
+        shape2.calculate_local_inertia(mass),
+        shape2,
+        Vector3::new(0.0, 2.0, 0.0),
+        Vector4::new(0.0, 0.0, 0.0, 1.0),
+    );
+    dynamics_world.add_rigid_body(&body2);
+    body2.set_gravity(Vector3::new(0.0, 0.0, 0.0));
+
+    for _ in 0 .. 10 {
+        dynamics_world.step(0.1, 0, 0.0);
+    }
+
+    let (position, _) = body1.get_world_position_and_orientation();
+    assert!(position.y != 2.0);
+
+    let (position, _) = body2.get_world_position_and_orientation();
+    assert_eq!(position.y, 2.0);
+}