ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h

@@ -0,0 +1,543 @@
+#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
+
+/*! \file gim_basic_geometry_operations.h
+*\author Francisco Leon Najera
+type independant geometry routines
+
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) 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. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ 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 files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+
+#include "gim_linear_math.h"
+
+
+
+
+
+#define PLANEDIREPSILON 0.0000001f
+#define PARALELENORMALS 0.000001f
+
+
+#define TRIANGLE_NORMAL(v1,v2,v3,n)\
+{\
+	vec3f _dif1,_dif2;\
+    VEC_DIFF(_dif1,v2,v1);\
+    VEC_DIFF(_dif2,v3,v1);\
+    VEC_CROSS(n,_dif1,_dif2);\
+    VEC_NORMALIZE(n);\
+}\
+
+#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\
+    vec3f _dif1,_dif2; \
+    VEC_DIFF(_dif1,v2,v1); \
+    VEC_DIFF(_dif2,v3,v1); \
+    VEC_CROSS(n,_dif1,_dif2); \
+}\
+
+/// plane is a vec4f
+#define TRIANGLE_PLANE(v1,v2,v3,plane) {\
+    TRIANGLE_NORMAL(v1,v2,v3,plane);\
+    plane[3] = VEC_DOT(v1,plane);\
+}\
+
+/// plane is a vec4f
+#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\
+    TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
+    plane[3] = VEC_DOT(v1,plane);\
+}\
+
+/// Calc a plane from an edge an a normal. plane is a vec4f
+#define EDGE_PLANE(e1,e2,n,plane) {\
+    vec3f _dif; \
+    VEC_DIFF(_dif,e2,e1); \
+    VEC_CROSS(plane,_dif,n); \
+    VEC_NORMALIZE(plane); \
+    plane[3] = VEC_DOT(e1,plane);\
+}\
+
+#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])
+
+#define PROJECT_POINT_PLANE(point,plane,projected) {\
+	GREAL _dis;\
+	_dis = DISTANCE_PLANE_POINT(plane,point);\
+	VEC_SCALE(projected,-_dis,plane);\
+	VEC_SUM(projected,projected,point);	\
+}\
+
+//! Verifies if a point is in the plane hull
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool POINT_IN_HULL(
+	const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count)
+{
+	GREAL _dis;
+	for (GUINT _i = 0;_i< plane_count;++_i)
+	{
+		_dis = DISTANCE_PLANE_POINT(planes[_i],point);
+	    if(_dis>0.0f) return false;
+	}
+	return true;
+}
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped)
+{
+	GREAL _dis1,_dis2;
+	_dis1 = DISTANCE_PLANE_POINT(plane,s1);
+	VEC_DIFF(clipped,s2,s1);
+	_dis2 = VEC_DOT(clipped,plane);
+	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
+	VEC_SUM(clipped,clipped,s1);
+}
+
+enum ePLANE_INTERSECTION_TYPE
+{
+	G_BACK_PLANE = 0,
+	G_COLLIDE_PLANE,
+	G_FRONT_PLANE
+};
+
+enum eLINE_PLANE_INTERSECTION_TYPE
+{
+	G_FRONT_PLANE_S1 = 0,
+	G_FRONT_PLANE_S2,
+	G_BACK_PLANE_S1,
+	G_BACK_PLANE_S2,
+	G_COLLIDE_PLANE_S1,
+	G_COLLIDE_PLANE_S2
+};
+
+//! Confirms if the plane intersect the edge or nor
+/*!
+intersection type must have the following values
+<ul>
+<li> 0 : Segment in front of plane, s1 closest
+<li> 1 : Segment in front of plane, s2 closest
+<li> 2 : Segment in back of plane, s1 closest
+<li> 3 : Segment in back of plane, s2 closest
+<li> 4 : Segment collides plane, s1 in back
+<li> 5 : Segment collides plane, s2 in back
+</ul>
+*/
+
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,
+	const CLASS_PLANE &plane,CLASS_POINT &clipped)
+{
+	GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1);
+	GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2);
+	if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)
+	{
+	    if(_dis1<_dis2) return G_FRONT_PLANE_S1;
+	    return G_FRONT_PLANE_S2;
+	}
+	else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)
+	{
+	    if(_dis1>_dis2) return G_BACK_PLANE_S1;
+	    return G_BACK_PLANE_S2;
+	}
+
+	VEC_DIFF(clipped,s2,s1);
+	_dis2 = VEC_DOT(clipped,plane);
+	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
+	VEC_SUM(clipped,clipped,s1);
+	if(_dis1<_dis2) return G_COLLIDE_PLANE_S1;
+	return G_COLLIDE_PLANE_S2;
+}
+
+//! Confirms if the plane intersect the edge or not
+/*!
+clipped1 and clipped2 are the vertices behind the plane.
+clipped1 is the closest
+
+intersection_type must have the following values
+<ul>
+<li> 0 : Segment in front of plane, s1 closest
+<li> 1 : Segment in front of plane, s2 closest
+<li> 2 : Segment in back of plane, s1 closest
+<li> 3 : Segment in back of plane, s2 closest
+<li> 4 : Segment collides plane, s1 in back
+<li> 5 : Segment collides plane, s2 in back
+</ul>
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
+	const CLASS_POINT& s1,
+	const CLASS_POINT &s2,
+	const CLASS_PLANE &plane,
+	CLASS_POINT &clipped1,CLASS_POINT &clipped2)
+{
+	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1);
+	switch(intersection_type)
+	{
+	case G_FRONT_PLANE_S1:
+		VEC_COPY(clipped1,s1);
+	    VEC_COPY(clipped2,s2);
+		break;
+	case G_FRONT_PLANE_S2:
+		VEC_COPY(clipped1,s2);
+	    VEC_COPY(clipped2,s1);
+		break;
+	case G_BACK_PLANE_S1:
+		VEC_COPY(clipped1,s1);
+	    VEC_COPY(clipped2,s2);
+		break;
+	case G_BACK_PLANE_S2:
+		VEC_COPY(clipped1,s2);
+	    VEC_COPY(clipped2,s1);
+		break;
+	case G_COLLIDE_PLANE_S1:
+		VEC_COPY(clipped2,s1);
+		break;
+	case G_COLLIDE_PLANE_S2:
+		VEC_COPY(clipped2,s2);
+		break;
+	}
+	return intersection_type;
+}
+
+
+//! Finds the 2 smallest cartesian coordinates of a plane normal
+#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
+
+//! Ray plane collision in one way
+/*!
+Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
+It uses the PLANEDIREPSILON constant.
+*/
+template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
+	const CLASS_PLANE & plane,
+	const CLASS_POINT & vDir,
+	const CLASS_POINT & vPoint,
+	CLASS_POINT & pout,T &tparam)
+{
+	GREAL _dis,_dotdir;
+	_dotdir = VEC_DOT(plane,vDir);
+	if(_dotdir<PLANEDIREPSILON)
+	{
+	    return false;
+	}
+	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
+	tparam = -_dis/_dotdir;
+	VEC_SCALE(pout,tparam,vDir);
+	VEC_SUM(pout,vPoint,pout);
+	return true;
+}
+
+//! line collision
+/*!
+*\return
+	-0  if the ray never intersects
+	-1 if the ray collides in front
+	-2 if the ray collides in back
+*/
+template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
+	const CLASS_PLANE & plane,
+	const CLASS_POINT & vDir,
+	const CLASS_POINT & vPoint,
+	CLASS_POINT & pout,
+	T &tparam,
+	T tmin, T tmax)
+{
+	GREAL _dis,_dotdir;
+	_dotdir = VEC_DOT(plane,vDir);
+	if(btFabs(_dotdir)<PLANEDIREPSILON)
+	{
+		tparam = tmax;
+	    return 0;
+	}
+	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
+	char returnvalue = _dis<0.0f?2:1;
+	tparam = -_dis/_dotdir;
+
+	if(tparam<tmin)
+	{
+		returnvalue = 0;
+		tparam = tmin;
+	}
+	else if(tparam>tmax)
+	{
+		returnvalue = 0;
+		tparam = tmax;
+	}
+
+	VEC_SCALE(pout,tparam,vDir);
+	VEC_SUM(pout,vPoint,pout);
+	return returnvalue;
+}
+
+/*! \brief Returns the Ray on which 2 planes intersect if they do.
+    Written by Rodrigo Hernandez on ODE convex collision
+
+  \param p1 Plane 1
+  \param p2 Plane 2
+  \param p Contains the origin of the ray upon returning if planes intersect
+  \param d Contains the direction of the ray upon returning if planes intersect
+  \return true if the planes intersect, 0 if paralell.
+
+*/
+template<typename CLASS_POINT,typename CLASS_PLANE>
+SIMD_FORCE_INLINE bool INTERSECT_PLANES(
+		const CLASS_PLANE &p1,
+		const CLASS_PLANE &p2,
+		CLASS_POINT &p,
+		CLASS_POINT &d)
+{
+	VEC_CROSS(d,p1,p2);
+  	GREAL denom = VEC_DOT(d, d);
+  	if(GIM_IS_ZERO(denom)) return false;
+	vec3f _n;
+	_n[0]=p1[3]*p2[0] - p2[3]*p1[0];
+	_n[1]=p1[3]*p2[1] - p2[3]*p1[1];
+	_n[2]=p1[3]*p2[2] - p2[3]*p1[2];
+	VEC_CROSS(p,_n,d);
+	p[0]/=denom;
+	p[1]/=denom;
+	p[2]/=denom;
+	return true;
+}
+
+//***************** SEGMENT and LINE FUNCTIONS **********************************///
+
+/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
+ */
+template<typename CLASS_POINT>
+SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
+	CLASS_POINT & cp, const CLASS_POINT & v,
+	const CLASS_POINT &e1,const CLASS_POINT &e2)
+{
+    vec3f _n;
+    VEC_DIFF(_n,e2,e1);
+    VEC_DIFF(cp,v,e1);
+	GREAL _scalar = VEC_DOT(cp, _n);
+	_scalar/= VEC_DOT(_n, _n);
+	if(_scalar <0.0f)
+	{
+	    VEC_COPY(cp,e1);
+	}
+	else if(_scalar >1.0f)
+	{
+	    VEC_COPY(cp,e2);
+	}
+	else
+	{
+        VEC_SCALE(cp,_scalar,_n);
+        VEC_SUM(cp,cp,e1);
+	}
+}
+
+
+/*! \brief Finds the line params where these lines intersect.
+
+\param dir1 Direction of line 1
+\param point1 Point of line 1
+\param dir2 Direction of line 2
+\param point2 Point of line 2
+\param t1 Result Parameter for line 1
+\param t2 Result Parameter for line 2
+\param dointersect  0  if the lines won't intersect, else 1
+
+*/
+template<typename T,typename CLASS_POINT>
+SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
+	const CLASS_POINT & dir1,
+	CLASS_POINT & point1,
+	const CLASS_POINT & dir2,
+	CLASS_POINT &  point2,
+	T& t1,T& t2)
+{
+    GREAL det;
+	GREAL e1e1 = VEC_DOT(dir1,dir1);
+	GREAL e1e2 = VEC_DOT(dir1,dir2);
+	GREAL e2e2 = VEC_DOT(dir2,dir2);
+	vec3f p1p2;
+    VEC_DIFF(p1p2,point1,point2);
+    GREAL p1p2e1 = VEC_DOT(p1p2,dir1);
+	GREAL p1p2e2 = VEC_DOT(p1p2,dir2);
+	det = e1e2*e1e2 - e1e1*e2e2;
+	if(GIM_IS_ZERO(det)) return false;
+	t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;
+	t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;
+	return true;
+}
+
+//! Find closest points on segments
+template<typename CLASS_POINT>
+SIMD_FORCE_INLINE void SEGMENT_COLLISION(
+	const CLASS_POINT & vA1,
+	const CLASS_POINT & vA2,
+	const CLASS_POINT & vB1,
+	const CLASS_POINT & vB2,
+	CLASS_POINT & vPointA,
+	CLASS_POINT & vPointB)
+{
+    CLASS_POINT _AD,_BD,_N;
+    vec4f _M;//plane
+    VEC_DIFF(_AD,vA2,vA1);
+    VEC_DIFF(_BD,vB2,vB1);
+    VEC_CROSS(_N,_AD,_BD);
+    GREAL _tp = VEC_DOT(_N,_N);
+    if(_tp<G_EPSILON)//ARE PARALELE
+    {
+    	//project B over A
+    	bool invert_b_order = false;
+    	_M[0] = VEC_DOT(vB1,_AD);
+    	_M[1] = VEC_DOT(vB2,_AD);
+    	if(_M[0]>_M[1])
+    	{
+    		invert_b_order  = true;
+    		GIM_SWAP_NUMBERS(_M[0],_M[1]);
+    	}
+    	_M[2] = VEC_DOT(vA1,_AD);
+    	_M[3] = VEC_DOT(vA2,_AD);
+    	//mid points
+    	_N[0] = (_M[0]+_M[1])*0.5f;
+    	_N[1] = (_M[2]+_M[3])*0.5f;
+
+    	if(_N[0]<_N[1])
+    	{
+    		if(_M[1]<_M[2])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			vPointA = vA1;
+    		}
+    		else if(_M[1]<_M[3])
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
+    		}
+    		else
+    		{
+    			vPointA = vA2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
+    		}
+    	}
+    	else
+    	{
+    		if(_M[3]<_M[0])
+    		{
+    			vPointB = invert_b_order?vB2:vB1;
+    			vPointA = vA2;
+    		}
+    		else if(_M[3]<_M[1])
+    		{
+    			vPointA = vA2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
+    		}
+    		else
+    		{
+    			vPointB = invert_b_order?vB1:vB2;
+    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
+    		}
+    	}
+    	return;
+    }
+
+
+    VEC_CROSS(_M,_N,_BD);
+    _M[3] = VEC_DOT(_M,vB1);
+
+    LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1));
+    /*Closest point on segment*/
+    VEC_DIFF(vPointB,vPointA,vB1);
+	_tp = VEC_DOT(vPointB, _BD);
+	_tp/= VEC_DOT(_BD, _BD);
+	_tp = GIM_CLAMP(_tp,0.0f,1.0f);
+    VEC_SCALE(vPointB,_tp,_BD);
+    VEC_SUM(vPointB,vPointB,vB1);
+}
+
+
+
+
+//! Line box intersection in one dimension
+/*!
+
+*\param pos Position of the ray
+*\param dir Projection of the Direction of the ray
+*\param bmin Minimum bound of the box
+*\param bmax Maximum bound of the box
+*\param tfirst the minimum projection. Assign to 0 at first.
+*\param tlast the maximum projection. Assign to INFINITY at first.
+*\return true if there is an intersection.
+*/
+template<typename T>
+SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast)
+{
+	if(GIM_IS_ZERO(dir))
+	{
+        return !(pos < bmin || pos > bmax);
+	}
+	GREAL a0 = (bmin - pos) / dir;
+	GREAL a1 = (bmax - pos) / dir;
+	if(a0 > a1)   GIM_SWAP_NUMBERS(a0, a1);
+	tfirst = GIM_MAX(a0, tfirst);
+	tlast = GIM_MIN(a1, tlast);
+	if (tlast < tfirst) return false;
+	return true;
+}
+
+
+//! Sorts 3 componets
+template<typename T>
+SIMD_FORCE_INLINE void SORT_3_INDICES(
+		const T * values,
+		GUINT * order_indices)
+{
+	//get minimum
+	order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
+
+	//get second and third
+	GUINT i0 = (order_indices[0] + 1)%3;
+	GUINT i1 = (i0 + 1)%3;
+
+	if(values[i0] < values[i1])
+	{
+		order_indices[1] = i0;
+		order_indices[2] = i1;
+	}
+	else
+	{
+		order_indices[1] = i1;
+		order_indices[2] = i0;
+	}
+}
+
+
+
+
+
+#endif // GIM_VECTOR_H_INCLUDED

data/deps/include/bullet/BulletCollision/Gimpact/gim_bitset.h

@@ -0,0 +1,123 @@
+#ifndef GIM_BITSET_H_INCLUDED
+#define GIM_BITSET_H_INCLUDED
+/*! \file gim_bitset.h
+\author Francisco Leon Najera
+*/
+/*
+-----------------------------------------------------------------------------
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of EITHER:
+   (1) 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. The text of the GNU Lesser
+       General Public License is included with this library in the
+       file GIMPACT-LICENSE-LGPL.TXT.
+   (2) The BSD-style license that is included with this library in
+       the file GIMPACT-LICENSE-BSD.TXT.
+   (3) The zlib/libpng license that is included with this library in
+       the file GIMPACT-LICENSE-ZLIB.TXT.
+
+ 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 files
+ GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
+
+-----------------------------------------------------------------------------
+*/
+
+#include "gim_array.h"
+
+
+#define GUINT_BIT_COUNT 32
+#define GUINT_EXPONENT 5
+
+class gim_bitset
+{
+public:
+    gim_array<GUINT> m_container;
+
+    gim_bitset()
+    {
+
+    }
+
+    gim_bitset(GUINT bits_count)
+    {
+        resize(bits_count);
+    }
+
+    ~gim_bitset()
+    {
+    }
+
+	inline bool resize(GUINT newsize)
+	{
+		GUINT oldsize = m_container.size();
+		m_container.resize(newsize/GUINT_BIT_COUNT + 1,false);
+		while(oldsize<m_container.size())
+		{
+			m_container[oldsize] = 0;
+		}
+		return true;
+	}
+
+	inline GUINT size()
+	{
+		return m_container.size()*GUINT_BIT_COUNT;
+	}
+
+	inline void set_all()
+	{
+		for(GUINT i = 0;i<m_container.size();++i)
+		{
+			m_container[i] = 0xffffffff;
+		}
+	}
+
+	inline void clear_all()
+	{
+	    for(GUINT i = 0;i<m_container.size();++i)
+		{
+			m_container[i] = 0;
+		}
+	}
+
+	inline void set(GUINT bit_index)
+	{
+		if(bit_index>=size())
+		{
+			resize(bit_index);
+		}
+		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+	}
+
+	///Return 0 or 1
+	inline char get(GUINT bit_index)
+	{
+		if(bit_index>=size())
+		{
+			return 0;
+		}
+		char value = m_container[bit_index >> GUINT_EXPONENT] &
+					 (1 << (bit_index & (GUINT_BIT_COUNT-1)));
+		return value;
+	}
+
+	inline void clear(GUINT bit_index)
+	{
+	    m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));
+	}
+};
+
+
+
+
+
+#endif // GIM_CONTAINERS_H_INCLUDED