ruby-bullet 0.0.1-x86-linux

data/INSTALL.md

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+Using libraries
+--------------
+* ruby : http://www.ruby-lang.org/
+* swig : http://www.swig.org/
+* bullet : http://bulletphysics.org/
+
+
+How to compile all libraries.
+--------------
+1. compile external libraries.
+   
+    > $ rake download  
+    > $ rake compile:deps
+
+2. make ruby extension libraries.
+
+    > $ rake compile:ext
+
+3. install ruby extension libraries.
+
+    > $ rake package  
+    > $ sudo gem install pkg/ruby-bullet-\<version>-\<arch>.gem  

data/LICENSE

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+http://opensource.org/licenses/mit-license.php
+
+The MIT License
+
+Copyright (c) 2012 abexsoft@gmail.com
+
+Permission is hereby granted, free of charge, to any person obtaining a copy 
+of this software and associated documentation files (the "Software"), to deal 
+in the Software without restriction, including without limitation the rights 
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 
+copies of the Software, and to permit persons to whom the Software is 
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in 
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 
+THE SOFTWARE.

data/README.md

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+ruby-bullet
+=================
+
+Overview
+----
+Ruby-bullet is a ruby extension library of Bullet.
+
+
+Supported OS
+------
+Linux(x86), Windows with MinGW(x86)
+
+
+How to install
+----
+This project has a pre-compiled gem.  
+
+     $ sudo gem install pkg/ruby-bullet-<version>-<arch>.gem
+
+
+Usages
+-----
+Run a sample application.
+
+     $ ruby <gems_path>/ruby-bullet-<version>-<arch>/sample/hello_bullet/HelloBullet.rb
+
+
+How to compile
+----
+see [INSTALL.md](https://github.com/abexsoft/ruby-bullet/blob/master/INSTALL.md)
+
+
+License
+----------
+Ruby-bullet is licensed under MIT License.
+
+Copyright (C) 2012 abexsoft@gmail.com
+
+

data/Rakefile

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+require 'rubygems/package_task'
+require 'rake/clean'
+
+#
+# Download sources.
+#
+desc 'Download the source packages.'
+task :download => [:download_bullet]
+
+task :download_bullet do
+  BULLET_FILE = "bullet-2.80-rev2531.tgz"
+
+  FileUtils::mkdir_p("deps/src")
+  chdir('deps/src') {
+    sh "wget http://bullet.googlecode.com/files/#{BULLET_FILE}"
+    sh "tar xzvf #{BULLET_FILE}"
+  }
+end
+
+#
+# Compile libraries.
+#
+namespace :compile do
+
+  namespace :deps do
+
+    task :bullet do
+      chdir("deps/src/bullet-2.80-rev2531/") {
+        if /mingw/ =~ RUBY_PLATFORM
+          sh 'cmake . -G "MSYS Makefiles" -DUSE_GLUT:BOOL=OFF -DBUILD_DEMOS:BOOL=OFF -DCMAKE_INSTALL_PREFIX:PATH=..\
+\.. -DINCLUDE_INSTALL_DIR:PATH=include\\bullet -DLIB_DESTINATION:STRING=..\\..\\lib -DPKGCONFIG_INSTALL_PR
+EFIX:STRING=..\\..\\lib\\pkgconfig\\'
+          sh "make -j4"
+          system('mkdir ..\..\lib')
+          system('mkdir ..\..\include\bullet')
+          sh "cp -a lib/*.a ../../lib"
+          sh "cp -a src/* ../../include/bullet"
+        else
+          sh "cmake -DCMAKE_INSTALL_PREFIX:PATH=../.. -DINCLUDE_INSTALL_DIR:PATH=include/bullet -DLIB_DESTINATION:STRING=../../lib -DPKGCONFIG_INSTALL_PREFIX:STRING=../../lib/pkgconfig/"
+          sh "make -j4 && make install"
+        end
+      }
+    end
+  end
+  desc 'Compile a bullet library.'
+  task :deps => 'deps:bullet'    
+
+
+  namespace :ext do
+    #
+    # Extension
+    #
+
+    DLEXT = RbConfig::MAKEFILE_CONFIG['DLEXT']
+
+    task :bullet => ["lib/Bullet.#{DLEXT}"] 
+
+    ## lib/*.#{DLEXT}
+    file "lib/Bullet.#{DLEXT}" => "bindings/bullet/Bullet.#{DLEXT}" do |f|
+      cp f.prerequisites, "lib/", :preserve => true
+    end
+
+    ## ext/**/*.#{DLEXT}
+    file "bindings/bullet/Bullet.#{DLEXT}" => FileList["bindings/bullet/Makefile"] do |f|
+      sh 'cd bindings/bullet/ && make clean && make'
+    end
+    CLEAN.include 'bindings/bullet/*.{o,so,dll}'
+
+    ## ext/**/Makefile
+    file 'bindings/bullet/Makefile' => FileList['bindings/bullet/interface/bullet_wrap.cpp'] do
+      chdir('bindings/bullet/') { ruby 'extconf.rb' }
+    end
+    CLEAN.include 'bindings/bullet/Makefile'
+
+    ## make wrappers with swig.
+    file 'bindings/bullet/interface/bullet_wrap.cpp' do
+      chdir('bindings/bullet/interface') { sh 'make' }
+    end
+    CLEAN.include 'bindings/bullet/interface/bullet_wrap.{cpp,h,o}'
+  end
+
+  desc 'Compile a bullet extension library.'
+  task :ext => 'ext:bullet'    
+end
+
+#
+# Document
+#
+desc 'Create documents'
+task :doc => ['bindings/bullet/interface/bullet_wrap.cpp'] do |f|
+
+  sh "rdoc #{f.prerequisites.join(' ')}"
+end
+
+#
+# Gemspec
+#
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'Version'
+
+spec = Gem::Specification.new do |s|
+
+  s.name        = "ruby-bullet"
+  s.version     = Ruby::Bullet::VERSION
+  s.summary     = "A ruby extension library of Bullet."
+  s.homepage    = "https://github.com/abexsoft/ruby-bullet"
+  s.authors     = ["abexsoft works"]
+  s.email       = ["abexsoft@gmail.com"]
+  s.description = "This is a binary package of the ruby wrapper of Bullet."
+  s.platform    = Gem::Platform::CURRENT
+ 
+  # The list of files to be contained in the gem 
+  s.files = FileList['Rakefile',
+                     'README.md',
+                     'INSTALL.md',
+                     'LICENSE',
+                     'bindings/bullet/interface/**/*',
+                     'bindings/bullet/src/**/*',
+                     'doc/**/*',
+                     'lib/**/*',
+                     'sample/**/*',
+                     'deps/lib/*',
+                     'deps/include/**/*',
+                    ].to_a
+
+  s.require_paths = ["lib"]
+end
+
+Gem::PackageTask.new(spec) do |pkg|
+end

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i

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+%{
+#include <btAxisSweep3.h>
+%}
+
+// predeclaration of btAxisSweep3Internal,
+// because btAxisSweep3Internal<unsigned short int> is needed by btAxisSweep3.h.
+%include local_btAxisSweep3Internal.h
+%template(AxisSweep3InternalUShortInt) btAxisSweep3Internal<unsigned short int>;
+
+#ifdef DEBUG_FREEFUNC
+%freefunc btAxisSweep3 "debug_free_btAxisSweep3";
+#endif
+
+%include btAxisSweep3.h
+
+
+
+
+%{
+ static void debug_free_btAxisSweep3(void* ptr) {
+	 btAxisSweep3* obj = (btAxisSweep3*) ptr;
+	 
+	 std::cout << __PRETTY_FUNCTION__ << std::endl;
+	 
+	 delete obj;
+
+	 std::cout << __PRETTY_FUNCTION__ << " done" << std::endl;
+ }
+
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i

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+%{
+#include <btBroadphaseInterface.h>
+%}
+
+%include btBroadphaseInterface.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i

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+%{
+#include <btBroadphaseProxy.h>
+%}
+
+%include btBroadphaseProxy.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i

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+%{
+#include <btCollisionAlgorithm.h>
+%}
+
+%include btCollisionAlgorithm.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i

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+%{
+#include <btDbvt.h>
+%}
+
+%ignore btDbvt::allocate;
+
+%include btDbvt.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i

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+%{
+#include <btDbvtBroadphase.h>
+%}
+
+%include btDbvtBroadphase.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i

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+%{
+#include <btDispatcher.h>
+%}
+
+%include btDispatcher.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i

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+%{
+#include <btMultiSapBroadphase.h>
+%}
+
+%ignore  btMultiSapBroadphase::quicksort;
+
+%include btMultiSapBroadphase.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i

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+%{
+#include <btOverlappingPairCache.h>
+%}
+
+%include btOverlappingPairCache.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i

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+%{
+#include <btOverlappingPairCallback.h>
+%}
+
+%include btOverlappingPairCallback.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i

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+%{
+#include <btQuantizedBvh.h>
+%}
+
+%include btQuantizedBvh.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i

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+%{
+#include <btSimpleBroadphase.h>
+%}
+
+%include btSimpleBroadphase.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h

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+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+//
+// btAxisSweep3.h
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+//
+// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+//
+// 3. This notice may not be removed or altered from any source distribution.
+
+//#define DEBUG_BROADPHASE 1
+#define USE_OVERLAP_TEST_ON_REMOVES 1
+
+/// The internal templace class btAxisSweep3Internal implements the sweep and prune broadphase.
+/// It uses quantized integers to represent the begin and end points for each of the 3 axis.
+/// Dont use this class directly, use btAxisSweep3 or bt32BitAxisSweep3 instead.
+template <typename BP_FP_INT_TYPE>
+class btAxisSweep3Internal : public btBroadphaseInterface
+{
+protected:
+
+	BP_FP_INT_TYPE	m_bpHandleMask;
+	BP_FP_INT_TYPE	m_handleSentinel;
+
+public:
+	
+ BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	class Edge
+	{
+	public:
+		BP_FP_INT_TYPE m_pos;			// low bit is min/max
+		BP_FP_INT_TYPE m_handle;
+
+		BP_FP_INT_TYPE IsMax() const {return static_cast<BP_FP_INT_TYPE>(m_pos & 1);}
+	};
+
+public:
+	class	Handle : public btBroadphaseProxy
+	{
+	public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+	
+		// indexes into the edge arrays
+		BP_FP_INT_TYPE m_minEdges[3], m_maxEdges[3];		// 6 * 2 = 12
+//		BP_FP_INT_TYPE m_uniqueId;
+		btBroadphaseProxy*	m_dbvtProxy;//for faster raycast
+		//void* m_pOwner; this is now in btBroadphaseProxy.m_clientObject
+	
+		SIMD_FORCE_INLINE void SetNextFree(BP_FP_INT_TYPE next) {m_minEdges[0] = next;}
+		SIMD_FORCE_INLINE BP_FP_INT_TYPE GetNextFree() const {return m_minEdges[0];}
+	};		// 24 bytes + 24 for Edge structures = 44 bytes total per entry
+
+	
+protected:
+	btVector3 m_worldAabbMin;						// overall system bounds
+	btVector3 m_worldAabbMax;						// overall system bounds
+
+	btVector3 m_quantize;						// scaling factor for quantization
+
+	BP_FP_INT_TYPE m_numHandles;						// number of active handles
+	BP_FP_INT_TYPE m_maxHandles;						// max number of handles
+	Handle* m_pHandles;						// handles pool
+	
+	BP_FP_INT_TYPE m_firstFreeHandle;		// free handles list
+
+	Edge* m_pEdges[3];						// edge arrays for the 3 axes (each array has m_maxHandles * 2 + 2 sentinel entries)
+	void* m_pEdgesRawPtr[3];
+
+	btOverlappingPairCache* m_pairCache;
+
+	///btOverlappingPairCallback is an additional optional user callback for adding/removing overlapping pairs, similar interface to btOverlappingPairCache.
+	btOverlappingPairCallback* m_userPairCallback;
+	
+	bool	m_ownsPairCache;
+
+	int	m_invalidPair;
+
+	///additional dynamic aabb structure, used to accelerate ray cast queries.
+	///can be disabled using a optional argument in the constructor
+	btDbvtBroadphase*	m_raycastAccelerator;
+	btOverlappingPairCache*	m_nullPairCache;
+
+
+	// allocation/deallocation
+	BP_FP_INT_TYPE allocHandle();
+	void freeHandle(BP_FP_INT_TYPE handle);
+	
+
+	bool testOverlap2D(const Handle* pHandleA, const Handle* pHandleB,int axis0,int axis1);
+
+#ifdef DEBUG_BROADPHASE
+	void debugPrintAxis(int axis,bool checkCardinality=true);
+#endif //DEBUG_BROADPHASE
+
+	//Overlap* AddOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
+	//void RemoveOverlap(BP_FP_INT_TYPE handleA, BP_FP_INT_TYPE handleB);
+
+	
+
+	void sortMinDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMinUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMaxDown(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+	void sortMaxUp(int axis, BP_FP_INT_TYPE edge, btDispatcher* dispatcher, bool updateOverlaps );
+
+public:
+
+	btAxisSweep3Internal(const btVector3& worldAabbMin,const btVector3& worldAabbMax, BP_FP_INT_TYPE handleMask, BP_FP_INT_TYPE handleSentinel, BP_FP_INT_TYPE maxHandles = 16384, btOverlappingPairCache* pairCache=0,bool disableRaycastAccelerator = false);
+
+	virtual	~btAxisSweep3Internal();
+
+	BP_FP_INT_TYPE getNumHandles() const
+	{
+		return m_numHandles;
+	}
+
+	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
+	
+	BP_FP_INT_TYPE addHandle(const btVector3& aabbMin,const btVector3& aabbMax, void* pOwner,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	void removeHandle(BP_FP_INT_TYPE handle,btDispatcher* dispatcher);
+	void updateHandle(BP_FP_INT_TYPE handle, const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	SIMD_FORCE_INLINE Handle* getHandle(BP_FP_INT_TYPE index) const {return m_pHandles + index;}
+
+	virtual void resetPool(btDispatcher* dispatcher);
+
+	// This method is not implemented and issues a link error on MinGW. So I commented out (by abexsoft).
+//	void	processAllOverlappingPairs(btOverlapCallback* callback);
+
+	//Broadphase Interface
+	virtual btBroadphaseProxy*	createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask,btDispatcher* dispatcher,void* multiSapProxy);
+	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
+	virtual void	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
+	virtual void  getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	
+	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
+	virtual void	aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
+
+	
+	void quantize(BP_FP_INT_TYPE* out, const btVector3& point, int isMax) const;
+	///unQuantize should be conservative: aabbMin/aabbMax should be larger then 'getAabb' result
+	void unQuantize(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
+	
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_pairCache;
+	}
+	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_pairCache;
+	}
+
+	void	setOverlappingPairUserCallback(btOverlappingPairCallback* pairCallback)
+	{
+		m_userPairCallback = pairCallback;
+	}
+	const btOverlappingPairCallback*	getOverlappingPairUserCallback() const
+	{
+		return m_userPairCallback;
+	}
+
+	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
+	///will add some transform later
+	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
+	{
+		aabbMin = m_worldAabbMin;
+		aabbMax = m_worldAabbMax;
+	}
+
+	virtual void	printStats()
+	{
+/*		printf("btAxisSweep3.h\n");
+		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+		printf("aabbMin=%f,%f,%f,aabbMax=%f,%f,%f\n",m_worldAabbMin.getX(),m_worldAabbMin.getY(),m_worldAabbMin.getZ(),
+			m_worldAabbMax.getX(),m_worldAabbMax.getY(),m_worldAabbMax.getZ());
+			*/
+
+	}
+
+};
+
+

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i

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+%{
+#include <SphereTriangleDetector.h>
+%}
+
+%include SphereTriangleDetector.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i

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+%{
+#include <btActivatingCollisionAlgorithm.h>
+%}
+
+%include btActivatingCollisionAlgorithm.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i

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+%{
+#include <btBox2dBox2dCollisionAlgorithm.h>
+%}
+
+%include btBox2dBox2dCollisionAlgorithm.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i

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+%{
+#include <btBoxBoxCollisionAlgorithm.h>
+%}
+
+%include btBoxBoxCollisionAlgorithm.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i

@@ -0,0 +1,8 @@
+%{
+#include <btBoxBoxDetector.h>
+%}
+
+%include btBoxBoxDetector.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i

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+%{
+#include <btCollisionConfiguration.h>
+%}
+
+#ifdef DEBUG_FREEFUNC
+%freefunc btCollisionConfiguration "debug_free_btCollisionConfiguration";
+#endif
+
+%include btCollisionConfiguration.h
+
+%{
+ static void debug_free_btCollisionConfiguration(void* ptr) {
+	 btCollisionConfiguration* obj = (btCollisionConfiguration*) ptr;
+	 
+	 std::cout << __PRETTY_FUNCTION__ << std::endl;
+	 
+	 if (obj)
+		 delete obj;
+ }
+
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i

@@ -0,0 +1,8 @@
+%{
+#include <btCollisionCreateFunc.h>
+%}
+
+%include btCollisionCreateFunc.h
+
+%{
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i

@@ -0,0 +1,24 @@
+%{
+#include <btCollisionDispatcher.h>
+%}
+
+#ifdef DEBUG_FREEFUNC
+%freefunc btCollisionDispatcher "debug_free_btCollisionDispatcher";
+#endif
+
+%include btCollisionDispatcher.h
+
+%{
+
+ static void debug_free_btCollisionDispatcher(void* ptr) {
+	 btCollisionDispatcher* obj = (btCollisionDispatcher*) ptr;
+	 
+	 std::cout << __PRETTY_FUNCTION__ << std::endl;
+	 
+	 delete obj;
+
+	 std::cout << __PRETTY_FUNCTION__ << " done" << std::endl;
+ }
+
+
+%}

data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i

@@ -0,0 +1,8 @@
+%{
+#include <btCollisionObject.h>
+%}
+
+%include btCollisionObject.h
+
+%{
+%}