Ruby-ODE-SWIG 0.0.1

data/COPYING

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+

data/README

@@ -0,0 +1,97 @@
+= Ruby-ODE-SWIG
+Copyright (C) 2008  William de Beaumont <wdebeaum at gmail.com>
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+
+== Description
+
+Ruby-ODE-SWIG provides Ruby language bindings for the Open Dynamics Engine (ODE), written using the Simplified Wrapper and Interface Generator (SWIG). I wrote it so I could use it in my game, Modularity (which is still at a very early stage of development).
+
+=== Requirements
+ Ruby
+ ODE
+ SWIG
+
+=== To Compile
+Edit the path to the ODE includes in extconf.rb, if necessary.
+ ruby extconf.rb
+ make
+
+=== To Install
+# TODO
+
+=== To Use
+ require "ode"
+ w = ODE::World.new
+ # etc.
+
+== Similar Projects
+
+=== Ruby-ODE
+
+Author: Michael Granger
+
+URL: http://www.deveiate.org/projects/Ruby-ODE/
+
+License: Creative Commons Attribution
+
+==== Description
+ Written in straight C (no wrapper generator) for use in FaerieMUD.
+
+==== Why I didn't use it
+- It appears to be unmaintained since about 2003. The latest version is 0.01.
+- It doesn't compile on the amd64 architecture due to pointer size issues.
+- It's not very DRY (which made fixing the above point harder than it should have been).
+
+=== ruby-ode
+
+Author: Marcel Toele?
+
+URL: http://rubyforge.org/frs/shownotes.php?release_id=5051
+
+License: GPL
+
+==== Description
+Written using Ruby/DLX (a Ruby library for interfacing with C), as one of the demos thereof.
+
+==== Why I didn't use it
+- I had already started Ruby-ODE-SWIG when I discovered it.
+- It also appears unmaintained, since 2006.
+- It's still not very DRY.
+
+== About the Code
+I only wrote in C what was necessary, which turned out to be very little. Mostly I just "include"d all the ODE headers in ode.i, and let SWIG figure it out. The SWIG documentation recommends not doing it this way, but it seems to work OK. Just ignore all the warnings you get ;)
+
+The only function I really had to wrap by hand in C was dCollide, which fills a variable-sized array argument. I wrote dCollideRuby to instead return a Ruby array of the desired size. I also wrote a typemap for using Ruby Procs for collision callbacks, and a couple functions necessary for using SWIG pointer objects in hash tables.
+
+Most of the real magic happens in ode.rb, where I was able to use Ruby's reflection capabilities to more concisely express the relationship between Ruby method calls and C function calls. SWIG puts all its wrapped methods in the Ode module (which I've given the alternative name ODE). I've made Ruby classes whose instances act as proxies for ODE classes. The generic support for this is in the ODE::ObjectID module, which those classes include.
+
+ObjectID handles creating ODE objects with their Ruby proxies (via initialize), and converting conventional Ruby method calls (e.g. ODE::World#gravity=(v)) to their more C-ish counterparts (e.g. ODE.dWorldSetGravity(id,x,y,z)). In a few cases I manually mapped lower-case versions of method names that would have started with an upper-case letter otherwise (e.g. ODE::World#erp=(v) => ODE.dWorldSetERP(id,v)).
+
+Vectors (and matrices) are automatically converted between ODE dVectorN and Ruby arrays of floats of length N. Unfortunately, in many cases I have to specify N, since that information isn't actually contained in the C headers in a way that SWIG can use. I also standardize on passing vectors as single arguments, rather than passing them as a separate argument for each coordinate (as happens some of the time in ODE).
+
+Some C structs can be initialized using the from_hash class method, e.g.:
+  surface_parameters =
+    ODE::DSurfaceParameters.from_hash(
+      :mode => ODE::DContactBounce,
+      :mu => 0,
+      :bounce => 0.5,
+      :bounce_vel => 0
+      )
+
+from_hash creates a new C structure object and calls the Ruby setter methods for each of the hash keys on the corresponding value. Those setters are generated by SWIG.
+
+ODE::Space#collide and ODE::Space#collide2 both may take either a block, or a Proc as the last argument, to be used as a callback. It will be called with the two potentially colliding ODE::Geom objects as arguments. See the ODE documentation for what to do in the callback.
+

data/Ruby-ODE-SWIG.gemspec

@@ -0,0 +1,20 @@
+require 'rubygems'
+spec = Gem::Specification.new do |s|
+  s.name = "Ruby-ODE-SWIG"
+  s.version = "0.0.1"
+  s.author = "William de Beaumont"
+  s.email = "wdebeaum at gmail.com"
+  s.rubyforge_project = "Ruby-ODE-SWIG"
+  s.homepage = "http://ruby-ode-swig.rubyforge.org/"
+  s.platform = Gem::Platform::RUBY
+  s.summary = "Ruby language bindings for the Open Dynamics Engine (ODE), written using the Simplified Wrapper and Interface Generator (SWIG)."
+  s.files = %w{README COPYING TODO ext/extconf.rb ext/ode.i lib/ode.rb test/test.rb Ruby-ODE-SWIG.gemspec}
+  s.require_paths = %w{lib ext}
+  s.extensions = %w{ext/extconf.rb}
+  s.has_rdoc = true
+  s.extra_rdoc_files = %w{README}
+end
+if $0 == __FILE__
+  Gem::manage_gems
+  Gem::Builder.new(spec).build
+end

data/TODO

@@ -0,0 +1,4 @@
+- make this a gem
+? make "make install" work correctly (don't know whether gem handles this...)
+- give each joint type its own Ruby class
+(see also `grep TODO ode.rb`)

data/ext/extconf.rb

@@ -0,0 +1,21 @@
+# Ruby-ODE-SWIG - ODE bindings for Ruby using SWIG
+# Copyright (C) 2008  William de Beaumont
+# 
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+# 
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+# 
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+require 'mkmf'
+print `ln -s /usr/include/ode`
+print `swig -ruby ode.i`
+$libs += " -lode "
+create_makefile('ode')

data/ext/ode.i

@@ -0,0 +1,95 @@
+/*
+ * Ruby-ODE-SWIG - ODE bindings for Ruby using SWIG
+ * Copyright (C) 2008  William de Beaumont
+ * 
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ * 
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+%module ode
+
+%include cpointer.i
+%include carrays.i
+
+%{
+#include <ode/ode.h>
+%}
+%include "ode/config.h"
+%include "ode/compatibility.h"
+%include "ode/common.h"
+%include "ode/contact.h"
+%include "ode/error.h"
+%include "ode/memory.h"
+%include "ode/odemath.h"
+%include "ode/matrix.h"
+%include "ode/timer.h"
+%include "ode/rotation.h"
+%include "ode/mass.h"
+%include "ode/misc.h"
+%include "ode/objects.h"
+%include "ode/odecpp.h"
+
+%array_functions(dReal, dReal_array)
+%pointer_functions(dMass, dMass_pointer)
+%pointer_functions(int, int_pointer)
+
+%{
+void wrap_dNearCallback(void* data, dGeomID o1, dGeomID o2) {
+  VALUE proc = (VALUE)data;
+  rb_funcall(proc, rb_intern("call"), 2, 
+    SWIG_NewPointerObj(SWIG_as_voidptr(o1), SWIGTYPE_p_dxGeom, 0 |  0 ),
+    SWIG_NewPointerObj(SWIG_as_voidptr(o2), SWIGTYPE_p_dxGeom, 0 |  0 )
+    );
+}
+%}
+
+%typemap(in) (void* data, dNearCallback* callback)
+{
+  $1 = (void *)$input;
+  $2 = wrap_dNearCallback;
+}
+
+%include "ode/collision_space.h"
+%include "ode/collision.h"
+%include "ode/odecpp_collision.h"
+%include "ode/export-dif.h"
+
+%{
+SWIGINTERN VALUE
+_wrap_new_dContactGeom(int argc, VALUE *argv, VALUE self);
+%}
+%inline %{
+VALUE dCollideRuby(dGeomID o1, dGeomID o2, int max_contacts) {
+  dContactGeom* contacts = malloc(sizeof(dContactGeom)*max_contacts);
+  int num_contacts = dCollide(o1, o2, max_contacts, contacts, sizeof(dContactGeom));
+  VALUE ret = rb_ary_new();
+  int i;
+  for (i = 0; i < num_contacts; i++) {
+    dContactGeom* cg = malloc(sizeof(dContactGeom));
+    *cg = contacts[i];
+    rb_ary_push(ret, SWIG_NewPointerObj(SWIG_as_voidptr(cg), SWIGTYPE_p_dContactGeom, 0));
+  }
+  free(contacts);
+  return ret;
+}
+%}
+
+%inline %{
+unsigned long pointer_hash(void* ptr) {
+  return (unsigned long)ptr;
+}
+
+int pointers_equal(void* ptr1, void* ptr2) {
+  return (ptr1 == ptr2);
+}
+%}

data/lib/ode.rb

@@ -0,0 +1,471 @@
+# Ruby-ODE-SWIG - ODE bindings for Ruby using SWIG
+# Copyright (C) 2008  William de Beaumont
+# 
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+# 
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+# 
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+
+require "ode.so"
+ODE = Ode
+
+# TODO make Joint and Geom subclasses
+
+module SWIG
+  class Pointer
+    def eql?(other)
+      ODE.pointers_equal(self, other) != 0
+    end
+
+    def hash
+      ODE.pointer_hash(self)
+    end
+  end
+
+  class TYPE_p_float
+    attr_accessor :length
+    def self.create(length)
+      a = ODE.new_dReal_array(length)
+      a.length = length
+      a
+    end
+
+    def destroy
+      ODE.delete_dReal_array(self)
+    end
+
+    def [](i)
+      ODE.dReal_array_getitem(self, i)
+    end
+
+    def []=(i, v)
+      ODE.dReal_array_setitem(self, i, v)
+    end
+
+    def to_a
+      raise "Tried to convert a dReal array to a Ruby Array, but it has unknown length" unless (@length)
+      (0...@length).collect { |i|
+        self[i]
+      }
+    end
+
+    def inspect
+      "#<dReal* " + to_a.inspect + ">"
+    end
+
+    def self.from_a(ruby_array)
+      c_array = SWIG::TYPE_p_float.create(ruby_array.length)
+      ruby_array.each_index { |i|
+        c_array[i] = ruby_array[i]
+      }
+      c_array
+    end
+  end
+end
+
+# TODO put these functions in a more reasonable place
+module Kernel
+  def attr_reader_vector_return(*args)
+    args.each { |ruby_name, length|
+      class_name = self.to_s.sub(/.*::/,'')
+      c_name = "d#{class_name}Get#{ODE.camelize_method_name(ruby_name)}"
+      class_eval <<-EOS
+        def #{ruby_name.to_s}
+	  v = ODE.#{c_name}(@id)
+	  v.length = #{length}
+	  v
+	end
+      EOS
+    }
+  end
+
+  def attr_reader_vector_argument(*args)
+    args.each { |ruby_name, length|
+      class_name = self.to_s.sub(/.*::/,'')
+      c_name = "d#{class_name}Get#{ODE.camelize_method_name(ruby_name)}"
+      class_eval <<-EOS
+        def #{ruby_name.to_s}
+	  c_vect = SWIG::TYPE_p_float.create(#{length})
+	  ODE.#{c_name}(@id, c_vect)
+	  ruby_vect = c_vect.to_a
+	  c_vect.destroy
+	  ruby_vect
+	end
+      EOS
+    }
+  end
+
+  def attr_writer_vector_coordinates(*args)
+    args.each { |ruby_name|
+      class_name = self.to_s.sub(/.*::/,'')
+      c_name = "d#{class_name}Set#{ODE.camelize_method_name(ruby_name)}"
+      class_eval <<-EOS
+        def #{ruby_name.to_s}=(v)
+	  ODE.#{c_name}(@id, *(v.to_a))
+	end
+      EOS
+    }
+  end
+
+  def vector_transform(*args)
+    args.each { |ruby_name, length|
+      class_name = self.to_s.sub(/.*::/,'')
+      c_name = "d#{class_name}Get#{ODE.camelize_method_name(ruby_name)}"
+      c_args = ((0...length).collect { |i| "vin[#{i}]" }).join(", ")
+      class_eval <<-EOS
+        def #{ruby_name.to_s}(vin)
+	  c_vout = SWIG::TYPE_p_float.create(#{length})
+	  ODE.#{c_name}(@id, #{c_args}, c_vout)
+	  ruby_vout = c_vout.to_a
+	  c_vout.destroy
+	  ruby_vout
+	end
+      EOS
+    }
+  end
+end
+
+module ODE
+  module HashInitializer
+    def self.append_features(including_module)
+      including_module.module_eval %q{
+	def self.from_hash(h)
+	  obj = self.new
+	  h.each_pair { |k, v|
+	    obj.send((k.to_s + "=").intern, *(ODE.convert_args([v])))
+	  }
+	  obj
+	end
+      }
+    end
+  end
+
+  class DSurfaceParameters
+    include HashInitializer
+  end
+
+  class DContact
+    include HashInitializer
+  end
+
+  def self.convert_args(args)
+    args.collect { |a|
+      if (a.kind_of?(ObjectID))
+	a.id
+      elsif (a.kind_of?(Array) and a.all? { |e| e.kind_of?(Numeric) })
+	SWIG::TYPE_p_float.from_a(a)
+      else
+	a
+      end
+    }
+  end
+
+  def self.convert_return_value(ret)
+    if (ret.kind_of?(SWIG::Pointer) and ObjectID.by_id(ret))
+      ObjectID.by_id(ret)
+    else
+      ret
+    end
+  end
+
+  def self.camelize_method_name(methodname)
+    camelized = (methodname.to_s.gsub(/^./) { |m| m.upcase }).gsub(/_(.)/) { |m| $1.upcase }
+    camelized = "Set#{camelized}" if (camelized.sub!(/=$/,''))
+    camelized.sub!(/[\!\?]$/,'')
+    camelized
+  end
+
+  def self.method_missing(methodname, *args, &block)
+    camelized = ODE.camelize_method_name(methodname)
+    meth = nil
+    ode_function = "d#{camelized}".intern
+    ode_getter = "dGet#{camelized}".intern
+    if (ODE.respond_to?(ode_function))
+      meth = ODE.method(ode_function)
+    elsif (ODE.respond_to?(ode_getter))
+      meth = ODE.method(ode_getter)
+    end
+    if (meth)
+      args = args[0] if (methodname.to_s =~ /=$/ and args.length == 1 and args[0].kind_of?(Array))
+      args = convert_args(args)
+      convert_return_value(meth.call(@id, *args, &block))
+    else
+      super(methodname, *args, &block)
+    end
+  end
+  
+  def self.collide(o1,o2,max_contacts)
+    ODE.dCollideRuby(o1.id,o2.id,max_contacts)
+  end
+
+  def self.close
+    ODE.dCloseODE()
+  end
+
+  # TODO dR*, dQ*, dMass* (maybe just need constructors for these)
+  
+  module ObjectID
+    attr_reader :id
+    @@by_id = {}
+    def initialize(*args)
+      @id = ODE.method("d#{self.class.to_s.sub(/.*::/,'')}Create").call(*(ODE.convert_args(args)))
+      @@by_id[@id] = self
+    end
+
+    def self.by_id(id)
+      @@by_id[id]
+    end
+
+    def self.set_by_id(id, v)
+#      puts "setting id #{id} to #{v}"
+      @@by_id[id] = v
+    end
+
+    def method_missing(methodname, *args, &block)
+      camelized = ODE.camelize_method_name(methodname)
+      meth = nil
+      klass = self.class
+      while (meth == nil and klass != nil)
+	class_name = klass.to_s.sub(/.*::/,'')
+	ode_function = "d#{class_name}#{camelized}".intern
+	ode_getter = "d#{class_name}Get#{camelized}".intern
+	if (ODE.respond_to?(ode_function))
+	  meth = ODE.method(ode_function)
+	elsif (ODE.respond_to?(ode_getter))
+          meth = ODE.method(ode_getter)
+	end
+	klass = klass.superclass
+      end
+      if (meth)
+	args = args[0] if (methodname.to_s =~ /=$/ and args.length == 1 and args[0].kind_of?(Array))
+	args = ODE.convert_args(args)
+	ODE.convert_return_value(meth.call(@id, *args, &block))
+      else
+	super(methodname, *args, &block)
+      end
+    end
+  end
+
+  class World
+    include ObjectID
+
+    attr_reader_vector_argument([:gravity,3])
+
+    def impulse_to_force(stepsize, impulse)
+      c_force = SWIG::TYPE_p_float.create(3)
+      ODE.dWorldImpulseToForce(@id, stepsize, impulse[0], impulse[1], impulse[2], c_force)
+      ruby_force = c_force.to_a
+      c_force.destroy
+      ruby_force
+    end
+
+    # capitalization...
+    def erp=(v)
+      ODE.dWorldSetERP(@id, v)
+    end
+    def erp
+      ODE.dWorldGetERP(@id)
+    end
+    def cfm=(v)
+      ODE.dWorldSetCFM(@id, v)
+    end
+    def cfm
+      ODE.dWorldGetCFM(@id)
+    end
+  end
+
+  class Body
+    include ObjectID
+
+    vector_transform(
+      [:rel_point_pos,3],
+      [:rel_point_vel,3],
+      [:point_vel,3],
+      [:pos_rel_point,3],
+      [:vector_to_world,3],
+      [:vector_from_world,3]
+      )
+
+    attr_writer_vector_coordinates(
+      :finite_rotation_axis
+      )
+
+    attr_reader_vector_argument(
+      [:finite_rotation_axis,3]
+      )
+
+    attr_reader_vector_return(
+      [:position,3],
+      [:rotation,9],
+      [:quaternion,4],
+      [:linear_vel,3],
+      [:angular_vel,3],
+      [:force,3],
+      [:torque,3]
+      )
+  end
+
+  class Joint
+    include ObjectID
+    def initialize(type, world, group, *rest)
+      @id = ODE.method("dJointCreate#{(type.to_s.sub(/^[a-z]/) { |m| m.upcase })}").call(world.id, (group==nil)? nil : group.id, *(ODE.convert_args(rest)))
+      ObjectID.set_by_id(@id, self)
+    end
+    
+    # TODO handle these enumeration constants better...
+    def type
+      {
+	ODE::dJointTypeBall      => :ball,
+	ODE::dJointTypeHinge     => :hinge,
+	ODE::dJointTypeSlider    => :slider,
+	ODE::dJointTypeContact   => :contact,
+	ODE::dJointTypeUniversal => :universal,
+	ODE::dJointTypeHinge2    => :hinge2,
+	ODE::dJointTypeFixed     => :fixed,
+	ODE::dJointTypeAMotor    => :a_motor,
+	ODE::dJointTypePlane2D   => :plane2D
+      }[ODE.dJointGetType(@id)]
+    end
+
+    attr_reader_vector_argument(
+      [:ball_anchor,3],
+      [:ball_anchor2,3],
+      [:hinge_anchor,3],
+      [:hinge_anchor2,3],
+      [:hinge_axis,3],
+      [:slider_axis,3],
+      [:universal_anchor,3],
+      [:universal_anchor2,3],
+      [:universal_axis,3],
+      [:universal_axis2,3],
+      [:hinge2_anchor,3],
+      [:hinge2_anchor2,3],
+      [:hinge2_axis1,3],
+      [:hinge2_axis2,3],
+      [:a_motor_axis,3]
+      )
+  end
+
+  class JointGroup
+    include ObjectID
+  end
+
+  class Space
+    include ObjectID
+
+    def collide(*args, &block)
+      if (block_given?)
+	raise "Wrong number of arguments to Space#collide (#{args.length} for 0)" unless (args.length == 0)
+      else
+	raise "Wrong number of arguments to Space#collide (#{args.length} for 1)" unless (args.length == 1)
+	raise "Space#collide needs a block or a proc!" unless (args[0].kind_of?(Proc))
+	block = args[0]
+      end
+      ODE.dSpaceCollide(@id,
+        Proc.new { |o1id, o2id|
+#	  puts "o1id = #{o1id} o2id = #{o2id}" 
+	  o1, o2 = ObjectID.by_id(o1id), ObjectID.by_id(o2id)
+          block.call(o1,o2)
+	} )
+    end
+    
+    def collide2(other_geom, *args, &block)
+      if (block_given?)
+	raise "Wrong number of arguments to Space#collide (#{args.length + 1} for 1)" unless (args.length == 0)
+      else
+	raise "Wrong number of arguments to Space#collide (#{args.length + 1} for 2)" unless (args.length == 1)
+	raise "Space#collide needs a block or a proc!" unless (args[0].kind_of?(Proc))
+	block = args[0]
+      end
+      ODE.dSpaceCollide2(@id, other_geom.id, Proc.new { |o1, o2| block.call(ObjectID.by_id(o1), ObjectID.by_id(o2)) } )
+    end
+  end
+
+  class SimpleSpace < Space
+  end
+
+  class HashSpace < Space
+    def levels
+      c_minlevel = ODE.new_int_pointer
+      c_maxlevel = ODE.new_int_pointer
+      ODE.dHashSpaceGetLevels(@id, c_minlevel, c_maxlevel)
+      ruby_min_max = [ODE.int_pointer_value(c_minlevel),
+                      ODE.int_pointer_value(c_maxlevel)]
+      ODE.delete_int_pointer(c_minlevel)
+      ODE.delete_int_pointer(c_maxlevel)
+      ruby_min_max
+    end
+  end
+  
+  class QuadTreeSpace < Space
+  end
+
+  class Geom
+    include ObjectID
+    def initialize(type, space, *rest)
+      @id = ODE.method("dCreate#{ODE.camelize_method_name(type.to_s)}").call((space == nil)? nil : space.id, *(ODE.convert_args(rest)))
+      ObjectID.set_by_id(@id, self)
+    end
+
+    def placeable?
+      [
+       ODE::DSphereClass,
+       ODE::DBoxClass,
+#       ODE::DCCylinderClass,
+       ODE::DCylinderClass,
+       ODE::DGeomTransformClass,
+       ODE::DRayClass,
+       ODE::DTriMeshClass
+      ].include?(ODE.dGeomGetClass(@id))
+    end
+
+    def body
+      if (placeable?)
+        ODE.dGeomGetBody(@id)
+      else
+	nil
+      end
+    end
+
+    def ray_get
+      c_start = SWIG::TYPE_p_float.create(3)
+      c_dir = SWIG::TYPE_p_float.create(3)
+      ODE.dGeomRayGet(@id, c_start, c_dir)
+      ruby_start = c_start.to_a
+      ruby_dir = c_dir.to_a
+      c_start.destroy
+      c_dir.destroy
+      [ruby_start, ruby_dir]
+    end
+
+    # TODO trimesh
+
+    attr_reader_vector_return(
+      [:position,3],
+      [:rotation,9]
+      )
+    
+    attr_reader_vector_argument(
+      [:quaternion,4]
+      )
+
+    # capitalization...
+    def aabb
+      c_vector = SWIG::TYPE_p_float.create(6)
+      ODE.dGeomGetAABB(@id, c_vector)
+      ruby_vector = c_vector.to_a
+      c_vector.destroy
+      ruby_vector
+    end
+  end
+end
+

data/test/test.rb

@@ -0,0 +1,24 @@
+# Ruby-ODE-SWIG - ODE bindings for Ruby using SWIG
+# Copyright (C) 2008  William de Beaumont
+# 
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+# 
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+# Lesser General Public License for more details.
+# 
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+require "ode"
+w = ODE::World.new
+w.gravity
+s = ODE::SimpleSpace.new(nil)
+mysphere = ODE::Geom.new(:sphere, s, 5.0)
+mybox = ODE::Geom.new(:box, s, 4.9, 4.9, 4.9)
+s.Collide(Proc.new { |o1, o2| puts o1 })
+

metadata

@@ -0,0 +1,61 @@
+--- !ruby/object:Gem::Specification 
+name: Ruby-ODE-SWIG
+version: !ruby/object:Gem::Version 
+  version: 0.0.1
+platform: ruby
+authors: 
+- William de Beaumont
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2008-07-28 00:00:00 -04:00
+default_executable: 
+dependencies: []
+
+description: 
+email: wdebeaum at gmail.com
+executables: []
+
+extensions: 
+- ext/extconf.rb
+extra_rdoc_files: 
+- README
+files: 
+- README
+- COPYING
+- TODO
+- ext/extconf.rb
+- ext/ode.i
+- lib/ode.rb
+- test/test.rb
+- Ruby-ODE-SWIG.gemspec
+has_rdoc: true
+homepage: http://ruby-ode-swig.rubyforge.org/
+post_install_message: 
+rdoc_options: []
+
+require_paths: 
+- lib
+- ext
+required_ruby_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+  version: 
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      version: "0"
+  version: 
+requirements: []
+
+rubyforge_project: Ruby-ODE-SWIG
+rubygems_version: 1.1.1
+signing_key: 
+specification_version: 2
+summary: Ruby language bindings for the Open Dynamics Engine (ODE), written using the Simplified Wrapper and Interface Generator (SWIG).
+test_files: []
+