Add missing IDL definitions to btRigidBody

CMakeLists.txt

@@ -28,7 +28,8 @@ set(USE_GLUT OFF)
 set(CMAKE_BUILD_TYPE Release CACHE STRING "Build Type")
 
 # Default is 64*1024*1024 = 64MB
-set(TOTAL_MEMORY 67108864 CACHE STRING "Total Memory")
+#set(TOTAL_MEMORY 67108864 CACHE STRING "Total Memory")
+set(TOTAL_MEMORY 134217728 CACHE STRING "Total Memory")
 
 # Enable for resizable heap, with some amount of slowness
 set(ALLOW_MEMORY_GROWTH 0 CACHE STRING "Allow Memory Growth")
@@ -41,10 +42,11 @@ set(EMCC_ARGS
   -O3
   -s ALLOW_MEMORY_GROWTH=${ALLOW_MEMORY_GROWTH}
   -s ALLOW_TABLE_GROWTH=1
-  -s EXPORTED_FUNCTIONS=["_malloc"]
+  -s EXPORTED_FUNCTIONS=["_malloc","_free"]
   -s EXPORTED_RUNTIME_METHODS=["UTF8ToString"]
   -s EXTRA_EXPORTED_RUNTIME_METHODS=["addFunction"]
   -s EXPORT_NAME="Ammo"
+  -s EXPORT_ES6=1
   -s MODULARIZE=1
   -s NO_EXIT_RUNTIME=1
   -s NO_FILESYSTEM=1

Dockerfile

@@ -1,4 +1,4 @@
-FROM trzeci/emscripten
+FROM emscripten/emsdk
 ENV PYTHONUNBUFFERED 1
 RUN apt-get update \
     && apt-get install -y --no-install-recommends \

ammo.h

@@ -9,6 +9,8 @@
 #include "BulletSoftBody/btSoftBodyHelpers.h"
 #include "BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h"
 #include "BulletSoftBody/btSoftRigidDynamicsWorld.h"
+#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
+#include "BulletCollision/Gimpact/btGImpactShape.h"
 
 //Web IDL doesn't seem to support C++ templates so this is the best we can do
 //https://stackoverflow.com/questions/42517010/is-there-a-way-to-create-webidl-bindings-for-c-templated-types#comment82966925_42517010

ammo.idl

@@ -109,6 +109,13 @@ interface btMotionState {
   void setWorldTransform([Ref] btTransform worldTrans);
 };
 
+[JSImplementation="btMotionState"]
+interface MotionState {
+  void MotionState();
+  [Const] void getWorldTransform([Ref] btTransform worldTrans);
+  void setWorldTransform([Const, Ref] btTransform worldTrans);
+};
+
 interface btDefaultMotionState {
   void btDefaultMotionState([Ref] optional btTransform startTrans, [Ref] optional btTransform centerOfMassOffset);
   [Value] attribute btTransform m_graphicsWorldTrans;
@@ -140,7 +147,9 @@ interface btCollisionObject {
   void setWorldTransform([Const,Ref] btTransform worldTrans);
   void setCollisionShape(btCollisionShape collisionShape);
   void setCcdMotionThreshold (float ccdMotionThreshold);
+  [Const] float getCcdMotionThreshold();
   void setCcdSweptSphereRadius (float radius);
+  [Const] float getCcdSweptSphereRadius();
   long getUserIndex();
   void setUserIndex(long index);
   VoidPtr getUserPointer();
@@ -163,6 +172,7 @@ interface RayResultCallback {
   attribute short m_collisionFilterMask;
   attribute float m_closestHitFraction;
   [Const] attribute btCollisionObject m_collisionObject;
+  attribute unsigned long m_flags;
 };
 
 [Prefix="btCollisionWorld::"]
@@ -475,6 +485,152 @@ interface btHeightfieldTerrainShape {
 };
 btHeightfieldTerrainShape implements btConcaveShape;
 
+// GImpact
+
+interface btAABB {
+  void btAABB([ Const, Ref ] btVector3 V1, [ Const, Ref ] btVector3 V2, [ Const, Ref ] btVector3 V3, float margin);
+  void invalidate();
+  void increment_margin(float margin);
+  void copy_with_margin([ Const, Ref ] btAABB other, float margin);
+};
+
+interface btPrimitiveTriangle {
+  void btPrimitiveTriangle();
+};
+
+interface btTriangleShapeEx {
+  void btTriangleShapeEx([ Const, Ref ] btVector3 p1, [ Const, Ref ] btVector3 p2, [ Const, Ref ] btVector3 p3);
+  void getAabb([ Const, Ref ] btTransform t, [ Ref ] btVector3 aabbMin, [ Ref ] btVector3 aabbMax);
+  void applyTransform([ Const, Ref ] btTransform t);
+  void buildTriPlane([ Ref ] btVector4 plane);
+};
+
+interface btPrimitiveManagerBase {
+  boolean is_trimesh();
+  long get_primitive_count();
+  void get_primitive_box(long prim_index , [Ref] btAABB primbox);
+  void get_primitive_triangle(long prim_index, [Ref] btPrimitiveTriangle triangle);
+};
+
+enum eGIMPACT_SHAPE_TYPE {
+	"CONST_GIMPACT_COMPOUND_SHAPE",
+	"CONST_GIMPACT_TRIMESH_SHAPE_PART",
+	"CONST_GIMPACT_TRIMESH_SHAPE"
+};
+
+interface btTetrahedronShapeEx {
+    void btTetrahedronShapeEx();
+    void setVertices([ Const, Ref ] btVector3 v0, [ Const, Ref ] btVector3 v1, [ Const, Ref ] btVector3 v2, [ Const, Ref ] btVector3 v3);
+};
+
+interface btGImpactShapeInterface {
+  void updateBound();
+  void postUpdate();
+  long getShapeType();
+  [Const] DOMString getName();
+  eGIMPACT_SHAPE_TYPE getGImpactShapeType();
+  [Const] btPrimitiveManagerBase getPrimitiveManager();
+  long getNumChildShapes();
+  boolean childrenHasTransform();
+  boolean needsRetrieveTriangles();
+  boolean needsRetrieveTetrahedrons();
+  void getBulletTriangle(long prim_index, [Ref] btTriangleShapeEx triangle);
+  void getBulletTetrahedron(long prim_index, [Ref] btTetrahedronShapeEx tetrahedron);
+  [Const] btCollisionShape getChildShape(long index);
+  [Value] btTransform getChildTransform(long index);
+  void setChildTransform(long index, [Const, Ref] btTransform transform);
+};
+btGImpactShapeInterface implements btConcaveShape;
+
+[Prefix="btGImpactCompoundShape::"]
+interface CompoundPrimitiveManager {
+  attribute btGImpactCompoundShape m_compoundShape;
+  long get_primitive_count();
+  void get_primitive_box(long prim_index, [Ref] btAABB primbox);
+  void get_primitive_triangle(long prim_index, [Ref] btPrimitiveTriangle triangle);
+};
+CompoundPrimitiveManager implements btPrimitiveManagerBase;
+
+interface btGImpactCompoundShape {
+  void btGImpactCompoundShape(optional boolean children_has_transform = true);
+  boolean childrenHasTransform();
+  [Const] btPrimitiveManagerBase getPrimitiveManager();
+  CompoundPrimitiveManager getCompoundPrimitiveManager();
+  long getNumChildShapes();
+  void addChildShape([ Const, Ref ] btTransform localTransform, btCollisionShape shape);
+  btCollisionShape getChildShape(long index);
+  void getChildAabb(long child_index, [ Const, Ref ] btTransform t, [Ref] btVector3 aabbMin, [Ref] btVector3 aabbMax);
+  [Value] btTransform	getChildTransform(long index);
+  void setChildTransform(long index, [ Const, Ref ] btTransform transform);
+  void calculateLocalInertia(float mass, [Ref] btVector3 inertia);
+  [Const] DOMString getName();
+  eGIMPACT_SHAPE_TYPE getGImpactShapeType();
+};
+btGImpactCompoundShape implements btGImpactShapeInterface;
+
+[Prefix = "btGImpactMeshShapePart::"]
+interface TrimeshPrimitiveManager {
+  attribute float m_margin;
+  attribute btStridingMeshInterface m_meshInterface;
+  attribute long m_part;
+  attribute long m_lock_count;
+  attribute long numverts;
+  attribute PHY_ScalarType type;
+  attribute long stride;
+  attribute long indexstride;
+  attribute long numfaces;
+  attribute PHY_ScalarType indicestype;
+  void TrimeshPrimitiveManager([Const, Ref] optional TrimeshPrimitiveManager manager);
+  void lock();
+  void unlock();
+  boolean is_trimesh();
+  long get_vertex_count();
+  void get_indices(long face_index, unsigned long i0, unsigned long i1, unsigned long i2);
+  void get_vertex(unsigned long vertex_index, [Ref] btVector3 vertex);
+  void get_bullet_triangle(long prim_index, [Ref] btTriangleShapeEx triangle);
+};
+TrimeshPrimitiveManager implements btPrimitiveManagerBase;
+
+interface btGImpactMeshShapePart {
+  void btGImpactMeshShapePart(btStridingMeshInterface meshInterface, long part);
+  TrimeshPrimitiveManager getTrimeshPrimitiveManager();
+  long getVertexCount();
+  void getVertex(long vertex_index, [Ref] btVector3 vertex);
+  long getPart();
+};
+btGImpactMeshShapePart implements btGImpactShapeInterface;
+
+interface btGImpactMeshShape {
+  void btGImpactMeshShape(btStridingMeshInterface meshInterface);
+  [Const] btStridingMeshInterface getMeshInterface();
+  long getMeshPartCount();
+  [Const] btGImpactMeshShapePart getMeshPart(long index);
+  long calculateSerializeBufferSize();
+};
+btGImpactMeshShape implements btGImpactShapeInterface;
+
+interface btCollisionAlgorithmConstructionInfo {
+	void btCollisionAlgorithmConstructionInfo();
+	void btCollisionAlgorithmConstructionInfo(btDispatcher dispatcher, long temp);
+	attribute btDispatcher m_dispatcher1;
+	attribute btPersistentManifold m_manifold;
+};
+
+interface btCollisionAlgorithm {
+};
+
+interface btActivatingCollisionAlgorithm {
+};
+btActivatingCollisionAlgorithm implements btCollisionAlgorithm;
+
+interface btGImpactCollisionAlgorithm {
+  void btGImpactCollisionAlgorithm([Const, Ref] btCollisionAlgorithmConstructionInfo ci, [Const] btCollisionObjectWrapper body0Wrap, [Const] btCollisionObjectWrapper body1Wrap);
+  static void registerAlgorithm(btCollisionDispatcher dispatcher);
+};
+btGImpactCollisionAlgorithm implements btActivatingCollisionAlgorithm;
+
+//
+
 interface btDefaultCollisionConstructionInfo {
   void btDefaultCollisionConstructionInfo();
 };
@@ -585,6 +741,11 @@ interface btRigidBody {
   void setGravity([Const, Ref] btVector3 acceleration);
   [Const] btBroadphaseProxy getBroadphaseProxy();
   void clearForces();
+  void setFlags(long flags);
+  [Const] long getFlags();
+  [Const, Ref] btVector3 getTotalForce();
+  [Const, Ref] btVector3 getTotalTorque();
+  [Const] float getInvMass();
 };
 btRigidBody implements btCollisionObject;
 
@@ -670,6 +831,8 @@ interface btHingeConstraint {
   void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Ref] btTransform rbAFrame, [Ref] btTransform rbBFrame, optional boolean useReferenceFrameA);
   void btHingeConstraint ([Ref] btRigidBody rbA, [Ref] btTransform rbAFrame, optional boolean useReferenceFrameA);
 
+  float getHingeAngle();
+
   void setLimit(float low, float high, float softness, float biasFactor, optional float relaxationFactor);
   void enableAngularMotor(boolean enableMotor, float targetVelocity, float maxMotorImpulse);
   void setAngularOnly(boolean angularOnly);
@@ -684,10 +847,18 @@ btHingeConstraint implements btTypedConstraint;
 interface btSliderConstraint {
   void btSliderConstraint([Ref] btRigidBody rbA, [Ref] btRigidBody rbB, [Const,Ref] btTransform frameInA, [Const,Ref] btTransform frameInB, boolean useLinearReferenceFrameA);
   void btSliderConstraint([Ref] btRigidBody rbB, [Const,Ref] btTransform frameInB, boolean useLinearReferenceFrameA);
+
+  [Const] float getLinearPos();
+  [Const] float getAngularPos();
+
   void setLowerLinLimit(float lowerLimit);
   void setUpperLinLimit(float upperLimit);
   void setLowerAngLimit(float lowerAngLimit);
   void setUpperAngLimit(float upperAngLimit);
+
+  void setPoweredLinMotor(boolean onOff);
+  void setMaxLinMotorForce(float maxLinMotorForce);
+  void setTargetLinMotorVelocity(float targetLinMotorVelocity);
 };
 btSliderConstraint implements btTypedConstraint;
 
@@ -1068,6 +1239,10 @@ interface btSoftBody {
   long generateClusters(long k, optional long maxiterations);
   long generateBendingConstraints(long distance, Material mat);
   btSoftBody upcast(btCollisionObject colObj);
+  float getRestLengthScale();
+  void setRestLengthScale(float restLength);
+  void setWindVelocity([Const, Ref] btVector3 velocity);
+  [Const, Ref] btVector3 getWindVelocity();
 };
 btSoftBody implements btCollisionObject;
 

build_v3d.sh

@@ -0,0 +1,4 @@
+#!/bin/bash
+rm -rf builds/*
+cmake -B builds -DALLOW_MEMORY_GROWTH=1 -DCLOSURE=1 -DENVIRONMENT='web,webview'
+cmake --build builds -j12