ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h

@@ -0,0 +1,171 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_SIMPLE_BROADPHASE_H
+#define BT_SIMPLE_BROADPHASE_H
+
+
+#include "btOverlappingPairCache.h"
+
+
+struct btSimpleBroadphaseProxy : public btBroadphaseProxy
+{
+	int			m_nextFree;
+	
+//	int			m_handleId;
+
+	
+	btSimpleBroadphaseProxy() {};
+
+	btSimpleBroadphaseProxy(const btVector3& minpt,const btVector3& maxpt,int shapeType,void* userPtr,short int collisionFilterGroup,short int collisionFilterMask,void* multiSapProxy)
+	:btBroadphaseProxy(minpt,maxpt,userPtr,collisionFilterGroup,collisionFilterMask,multiSapProxy)
+	{
+		(void)shapeType;
+	}
+	
+	
+	SIMD_FORCE_INLINE void SetNextFree(int next) {m_nextFree = next;}
+	SIMD_FORCE_INLINE int GetNextFree() const {return m_nextFree;}
+
+	
+
+
+};
+
+///The SimpleBroadphase is just a unit-test for btAxisSweep3, bt32BitAxisSweep3, or btDbvtBroadphase, so use those classes instead.
+///It is a brute force aabb culling broadphase based on O(n^2) aabb checks
+class btSimpleBroadphase : public btBroadphaseInterface
+{
+
+protected:
+
+	int		m_numHandles;						// number of active handles
+	int		m_maxHandles;						// max number of handles
+	int		m_LastHandleIndex;							
+	
+	btSimpleBroadphaseProxy* m_pHandles;						// handles pool
+
+	void* m_pHandlesRawPtr;
+	int		m_firstFreeHandle;		// free handles list
+	
+	int allocHandle()
+	{
+		btAssert(m_numHandles < m_maxHandles);
+		int freeHandle = m_firstFreeHandle;
+		m_firstFreeHandle = m_pHandles[freeHandle].GetNextFree();
+		m_numHandles++;
+		if(freeHandle > m_LastHandleIndex)
+		{
+			m_LastHandleIndex = freeHandle;
+		}
+		return freeHandle;
+	}
+
+	void freeHandle(btSimpleBroadphaseProxy* proxy)
+	{
+		int handle = int(proxy-m_pHandles);
+		btAssert(handle >= 0 && handle < m_maxHandles);
+		if(handle == m_LastHandleIndex)
+		{
+			m_LastHandleIndex--;
+		}
+		proxy->SetNextFree(m_firstFreeHandle);
+		m_firstFreeHandle = handle;
+
+		proxy->m_clientObject = 0;
+
+		m_numHandles--;
+	}
+
+	btOverlappingPairCache*	m_pairCache;
+	bool	m_ownsPairCache;
+
+	int	m_invalidPair;
+
+	
+	
+	inline btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy)
+	{
+		btSimpleBroadphaseProxy* proxy0 = static_cast<btSimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
+
+	inline const btSimpleBroadphaseProxy*	getSimpleProxyFromProxy(btBroadphaseProxy* proxy) const
+	{
+		const btSimpleBroadphaseProxy* proxy0 = static_cast<const btSimpleBroadphaseProxy*>(proxy);
+		return proxy0;
+	}
+
+	///reset broadphase internal structures, to ensure determinism/reproducability
+	virtual void resetPool(btDispatcher* dispatcher);
+
+
+	void	validate();
+
+protected:
+
+
+	
+
+public:
+	btSimpleBroadphase(int maxProxies=16384,btOverlappingPairCache* overlappingPairCache=0);
+	virtual ~btSimpleBroadphase();
+
+
+		static bool	aabbOverlap(btSimpleBroadphaseProxy* proxy0,btSimpleBroadphaseProxy* proxy1);
+
+
+	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	calculateOverlappingPairs(btDispatcher* dispatcher);
+
+	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);
+		
+	btOverlappingPairCache*	getOverlappingPairCache()
+	{
+		return m_pairCache;
+	}
+	const btOverlappingPairCache*	getOverlappingPairCache() const
+	{
+		return m_pairCache;
+	}
+
+	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
+
+
+	///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.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
+		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
+	}
+
+	virtual void	printStats()
+	{
+//		printf("btSimpleBroadphase.h\n");
+//		printf("numHandles = %d, maxHandles = %d\n",m_numHandles,m_maxHandles);
+	}
+};
+
+
+
+#endif //BT_SIMPLE_BROADPHASE_H
+

data/deps/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h

@@ -0,0 +1,51 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_SPHERE_TRIANGLE_DETECTOR_H
+#define BT_SPHERE_TRIANGLE_DETECTOR_H
+
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+
+
+class btSphereShape;
+class btTriangleShape;
+
+
+
+/// sphere-triangle to match the btDiscreteCollisionDetectorInterface
+struct SphereTriangleDetector : public btDiscreteCollisionDetectorInterface
+{
+	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+
+	SphereTriangleDetector(btSphereShape* sphere,btTriangleShape* triangle, btScalar contactBreakingThreshold);
+
+	virtual ~SphereTriangleDetector() {};
+
+	bool collide(const btVector3& sphereCenter,btVector3 &point, btVector3& resultNormal, btScalar& depth, btScalar &timeOfImpact, btScalar	contactBreakingThreshold);
+
+private:
+
+	
+	bool pointInTriangle(const btVector3 vertices[], const btVector3 &normal, btVector3 *p );
+	bool facecontains(const btVector3 &p,const btVector3* vertices,btVector3& normal);
+
+	btSphereShape* m_sphere;
+	btTriangleShape* m_triangle;
+	btScalar	m_contactBreakingThreshold;
+	
+};
+#endif //BT_SPHERE_TRIANGLE_DETECTOR_H
+

data/deps/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h

@@ -0,0 +1,36 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
+
+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.
+*/
+
+#ifndef __BT_ACTIVATING_COLLISION_ALGORITHM_H
+#define __BT_ACTIVATING_COLLISION_ALGORITHM_H
+
+#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
+
+///This class is not enabled yet (work-in-progress) to more aggressively activate objects.
+class btActivatingCollisionAlgorithm : public btCollisionAlgorithm
+{
+//	btCollisionObject* m_colObj0;
+//	btCollisionObject* m_colObj1;
+
+public:
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci);
+
+	btActivatingCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* colObj0,btCollisionObject* colObj1);
+
+	virtual ~btActivatingCollisionAlgorithm();
+
+};
+#endif //__BT_ACTIVATING_COLLISION_ALGORITHM_H

data/deps/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h

@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+#define BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+
+#include "BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBox2dBox2dCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	
+public:
+	btBox2dBox2dCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btActivatingCollisionAlgorithm(ci) {}
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btBox2dBox2dCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+
+	virtual ~btBox2dBox2dCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			int bbsize = sizeof(btBox2dBox2dCollisionAlgorithm);
+			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+			return new(ptr) btBox2dBox2dCollisionAlgorithm(0,ci,body0,body1);
+		}
+	};
+
+};
+
+#endif //BT_BOX_2D_BOX_2D__COLLISION_ALGORITHM_H
+

data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h

@@ -0,0 +1,66 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_BOX_BOX__COLLISION_ALGORITHM_H
+#define BT_BOX_BOX__COLLISION_ALGORITHM_H
+
+#include "btActivatingCollisionAlgorithm.h"
+#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
+#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
+#include "BulletCollision/CollisionDispatch/btCollisionCreateFunc.h"
+
+class btPersistentManifold;
+
+///box-box collision detection
+class btBoxBoxCollisionAlgorithm : public btActivatingCollisionAlgorithm
+{
+	bool	m_ownManifold;
+	btPersistentManifold*	m_manifoldPtr;
+	
+public:
+	btBoxBoxCollisionAlgorithm(const btCollisionAlgorithmConstructionInfo& ci)
+		: btActivatingCollisionAlgorithm(ci) {}
+
+	virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
+
+	btBoxBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1);
+
+	virtual ~btBoxBoxCollisionAlgorithm();
+
+	virtual	void	getAllContactManifolds(btManifoldArray&	manifoldArray)
+	{
+		if (m_manifoldPtr && m_ownManifold)
+		{
+			manifoldArray.push_back(m_manifoldPtr);
+		}
+	}
+
+
+	struct CreateFunc :public 	btCollisionAlgorithmCreateFunc
+	{
+		virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
+		{
+			int bbsize = sizeof(btBoxBoxCollisionAlgorithm);
+			void* ptr = ci.m_dispatcher1->allocateCollisionAlgorithm(bbsize);
+			return new(ptr) btBoxBoxCollisionAlgorithm(0,ci,body0,body1);
+		}
+	};
+
+};
+
+#endif //BT_BOX_BOX__COLLISION_ALGORITHM_H
+

data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h

@@ -0,0 +1,44 @@
+/*
+ * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org
+
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+#ifndef BT_BOX_BOX_DETECTOR_H
+#define BT_BOX_BOX_DETECTOR_H
+
+
+class btBoxShape;
+#include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
+
+
+/// btBoxBoxDetector wraps the ODE box-box collision detector
+/// re-distributed under the Zlib license with permission from Russell L. Smith
+struct btBoxBoxDetector : public btDiscreteCollisionDetectorInterface
+{
+	btBoxShape* m_box1;
+	btBoxShape* m_box2;
+
+public:
+
+	btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2);
+
+	virtual ~btBoxBoxDetector() {};
+
+	virtual void	getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
+
+};
+
+#endif //BT_BOX_BOX_DETECTOR_H

data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h

@@ -0,0 +1,48 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_COLLISION_CONFIGURATION
+#define BT_COLLISION_CONFIGURATION
+
+struct btCollisionAlgorithmCreateFunc;
+
+class btStackAlloc;
+class btPoolAllocator;
+
+///btCollisionConfiguration allows to configure Bullet collision detection
+///stack allocator size, default collision algorithms and persistent manifold pool size
+///@todo: describe the meaning
+class	btCollisionConfiguration
+{
+
+public:
+
+	virtual ~btCollisionConfiguration()
+	{
+	}
+
+	///memory pools
+	virtual btPoolAllocator* getPersistentManifoldPool() = 0;
+
+	virtual btPoolAllocator* getCollisionAlgorithmPool() = 0;
+
+	virtual btStackAlloc*	getStackAllocator() = 0;
+
+	virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc(int proxyType0,int proxyType1) =0;
+
+};
+
+#endif //BT_COLLISION_CONFIGURATION
+

data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h

@@ -0,0 +1,45 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#ifndef BT_COLLISION_CREATE_FUNC
+#define BT_COLLISION_CREATE_FUNC
+
+#include "LinearMath/btAlignedObjectArray.h"
+class btCollisionAlgorithm;
+class btCollisionObject;
+
+struct btCollisionAlgorithmConstructionInfo;
+
+///Used by the btCollisionDispatcher to register and create instances for btCollisionAlgorithm
+struct btCollisionAlgorithmCreateFunc
+{
+	bool m_swapped;
+	
+	btCollisionAlgorithmCreateFunc()
+		:m_swapped(false)
+	{
+	}
+	virtual ~btCollisionAlgorithmCreateFunc(){};
+
+	virtual	btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& , btCollisionObject* body0,btCollisionObject* body1)
+	{
+		
+		(void)body0;
+		(void)body1;
+		return 0;
+	}
+};
+#endif //BT_COLLISION_CREATE_FUNC
+