Include `btTransformUtil` functions?

[regnaio]

Kinematic btRigidBody example by Erwin Coumans - creator of Bullet Physics

btTransformUtil::integrateTransform(m_groundBody->getWorldTransform(), linearVelocity, angularVelocity, dt, predictedTrans);

m_groundBody->getMotionState()->setWorldTransform(predictedTrans);

I'd like to use this useful btTransformUtil::integrateTransform() function in ammo.js. Can we expose this function in ammo.js?

btTransformUtil::integrateTransform() source in bulletphysics/bullet3

[regnaio]

Figured out how to do this. Added the following to ammo.idl:

interface btTransformUtil {
  static void integrateTransform([Const, Ref] btTransform curTrans, [Const, Ref] btVector3 linvel, [Const, Ref] btVector3 angvel, float timeStep, [Ref] btTransform predictedTransform);
};

After building ammo.js, this can then be called in JS by:

Ammo.btTransformUtil.prototype.integrateTransform(...)