ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/LinearMath/btStackAlloc.h

@@ -0,0 +1,116 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / 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.
+*/
+
+/*
+StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
+Nov.2006
+*/
+
+#ifndef BT_STACK_ALLOC
+#define BT_STACK_ALLOC
+
+#include "btScalar.h" //for btAssert
+#include "btAlignedAllocator.h"
+
+///The btBlock class is an internal structure for the btStackAlloc memory allocator.
+struct btBlock
+{
+	btBlock*			previous;
+	unsigned char*		address;
+};
+
+///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
+class btStackAlloc
+{
+public:
+
+	btStackAlloc(unsigned int size)	{ ctor();create(size); }
+	~btStackAlloc()		{ destroy(); }
+	
+	inline void		create(unsigned int size)
+	{
+		destroy();
+		data		=  (unsigned char*) btAlignedAlloc(size,16);
+		totalsize	=	size;
+	}
+	inline void		destroy()
+	{
+		btAssert(usedsize==0);
+		//Raise(L"StackAlloc is still in use");
+
+		if(usedsize==0)
+		{
+			if(!ischild && data)		
+				btAlignedFree(data);
+
+			data				=	0;
+			usedsize			=	0;
+		}
+		
+	}
+
+	int	getAvailableMemory() const
+	{
+		return static_cast<int>(totalsize - usedsize);
+	}
+
+	unsigned char*			allocate(unsigned int size)
+	{
+		const unsigned int	nus(usedsize+size);
+		if(nus<totalsize)
+		{
+			usedsize=nus;
+			return(data+(usedsize-size));
+		}
+		btAssert(0);
+		//&& (L"Not enough memory"));
+		
+		return(0);
+	}
+	SIMD_FORCE_INLINE btBlock*		beginBlock()
+	{
+		btBlock*	pb = (btBlock*)allocate(sizeof(btBlock));
+		pb->previous	=	current;
+		pb->address		=	data+usedsize;
+		current			=	pb;
+		return(pb);
+	}
+	SIMD_FORCE_INLINE void		endBlock(btBlock* block)
+	{
+		btAssert(block==current);
+		//Raise(L"Unmatched blocks");
+		if(block==current)
+		{
+			current		=	block->previous;
+			usedsize	=	(unsigned int)((block->address-data)-sizeof(btBlock));
+		}
+	}
+
+private:
+	void		ctor()
+	{
+		data		=	0;
+		totalsize	=	0;
+		usedsize	=	0;
+		current		=	0;
+		ischild		=	false;
+	}
+	unsigned char*		data;
+	unsigned int		totalsize;
+	unsigned int		usedsize;
+	btBlock*	current;
+	bool		ischild;
+};
+
+#endif //BT_STACK_ALLOC

data/deps/include/bullet/LinearMath/btTransform.h

@@ -0,0 +1,307 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / 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_TRANSFORM_H
+#define BT_TRANSFORM_H
+
+
+#include "btMatrix3x3.h"
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btTransformData btTransformDoubleData
+#else
+#define btTransformData btTransformFloatData
+#endif
+
+
+
+
+/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
+ *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
+class btTransform {
+	
+  ///Storage for the rotation
+	btMatrix3x3 m_basis;
+  ///Storage for the translation
+	btVector3   m_origin;
+
+public:
+	
+  /**@brief No initialization constructor */
+	btTransform() {}
+  /**@brief Constructor from btQuaternion (optional btVector3 )
+   * @param q Rotation from quaternion 
+   * @param c Translation from Vector (default 0,0,0) */
+	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
+		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
+		: m_basis(q),
+		m_origin(c)
+	{}
+
+  /**@brief Constructor from btMatrix3x3 (optional btVector3)
+   * @param b Rotation from Matrix 
+   * @param c Translation from Vector default (0,0,0)*/
+	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
+		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
+		: m_basis(b),
+		m_origin(c)
+	{}
+  /**@brief Copy constructor */
+	SIMD_FORCE_INLINE btTransform (const btTransform& other)
+		: m_basis(other.m_basis),
+		m_origin(other.m_origin)
+	{
+	}
+  /**@brief Assignment Operator */
+	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
+	{
+		m_basis = other.m_basis;
+		m_origin = other.m_origin;
+		return *this;
+	}
+
+
+  /**@brief Set the current transform as the value of the product of two transforms
+   * @param t1 Transform 1
+   * @param t2 Transform 2
+   * This = Transform1 * Transform2 */
+		SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
+			m_basis = t1.m_basis * t2.m_basis;
+			m_origin = t1(t2.m_origin);
+		}
+
+/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
+			btVector3 v = t2.m_origin - t1.m_origin;
+			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
+			m_origin = v * t1.m_basis;
+		}
+		*/
+
+/**@brief Return the transform of the vector */
+	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
+	{
+		return btVector3(m_basis[0].dot(x) + m_origin.x(), 
+			m_basis[1].dot(x) + m_origin.y(), 
+			m_basis[2].dot(x) + m_origin.z());
+	}
+
+  /**@brief Return the transform of the vector */
+	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
+	{
+		return (*this)(x);
+	}
+
+  /**@brief Return the transform of the btQuaternion */
+	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
+	{
+		return getRotation() * q;
+	}
+
+  /**@brief Return the basis matrix for the rotation */
+	SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
+  /**@brief Return the basis matrix for the rotation */
+	SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }
+
+  /**@brief Return the origin vector translation */
+	SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
+  /**@brief Return the origin vector translation */
+	SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }
+
+  /**@brief Return a quaternion representing the rotation */
+	btQuaternion getRotation() const { 
+		btQuaternion q;
+		m_basis.getRotation(q);
+		return q;
+	}
+	
+	
+  /**@brief Set from an array 
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+	void setFromOpenGLMatrix(const btScalar *m)
+	{
+		m_basis.setFromOpenGLSubMatrix(m);
+		m_origin.setValue(m[12],m[13],m[14]);
+	}
+
+  /**@brief Fill an array representation
+   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
+	void getOpenGLMatrix(btScalar *m) const 
+	{
+		m_basis.getOpenGLSubMatrix(m);
+		m[12] = m_origin.x();
+		m[13] = m_origin.y();
+		m[14] = m_origin.z();
+		m[15] = btScalar(1.0);
+	}
+
+  /**@brief Set the translational element
+   * @param origin The vector to set the translation to */
+	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
+	{ 
+		m_origin = origin;
+	}
+
+	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
+
+
+  /**@brief Set the rotational element by btMatrix3x3 */
+	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
+	{ 
+		m_basis = basis;
+	}
+
+  /**@brief Set the rotational element by btQuaternion */
+	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
+	{
+		m_basis.setRotation(q);
+	}
+
+
+  /**@brief Set this transformation to the identity */
+	void setIdentity()
+	{
+		m_basis.setIdentity();
+		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
+	}
+
+  /**@brief Multiply this Transform by another(this = this * another) 
+   * @param t The other transform */
+	btTransform& operator*=(const btTransform& t) 
+	{
+		m_origin += m_basis * t.m_origin;
+		m_basis *= t.m_basis;
+		return *this;
+	}
+
+  /**@brief Return the inverse of this transform */
+	btTransform inverse() const
+	{ 
+		btMatrix3x3 inv = m_basis.transpose();
+		return btTransform(inv, inv * -m_origin);
+	}
+
+  /**@brief Return the inverse of this transform times the other transform
+   * @param t The other transform 
+   * return this.inverse() * the other */
+	btTransform inverseTimes(const btTransform& t) const;  
+
+  /**@brief Return the product of this transform and the other */
+	btTransform operator*(const btTransform& t) const;
+
+  /**@brief Return an identity transform */
+	static const btTransform&	getIdentity()
+	{
+		static const btTransform identityTransform(btMatrix3x3::getIdentity());
+		return identityTransform;
+	}
+
+	void	serialize(struct	btTransformData& dataOut) const;
+
+	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
+
+	void	deSerialize(const struct	btTransformData& dataIn);
+
+	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
+
+	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
+
+};
+
+
+SIMD_FORCE_INLINE btVector3
+btTransform::invXform(const btVector3& inVec) const
+{
+	btVector3 v = inVec - m_origin;
+	return (m_basis.transpose() * v);
+}
+
+SIMD_FORCE_INLINE btTransform 
+btTransform::inverseTimes(const btTransform& t) const  
+{
+	btVector3 v = t.getOrigin() - m_origin;
+		return btTransform(m_basis.transposeTimes(t.m_basis),
+			v * m_basis);
+}
+
+SIMD_FORCE_INLINE btTransform 
+btTransform::operator*(const btTransform& t) const
+{
+	return btTransform(m_basis * t.m_basis, 
+		(*this)(t.m_origin));
+}
+
+/**@brief Test if two transforms have all elements equal */
+SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
+{
+   return ( t1.getBasis()  == t2.getBasis() &&
+            t1.getOrigin() == t2.getOrigin() );
+}
+
+
+///for serialization
+struct	btTransformFloatData
+{
+	btMatrix3x3FloatData	m_basis;
+	btVector3FloatData	m_origin;
+};
+
+struct	btTransformDoubleData
+{
+	btMatrix3x3DoubleData	m_basis;
+	btVector3DoubleData	m_origin;
+};
+
+
+
+SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
+{
+	m_basis.serialize(dataOut.m_basis);
+	m_origin.serialize(dataOut.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
+{
+	m_basis.serializeFloat(dataOut.m_basis);
+	m_origin.serializeFloat(dataOut.m_origin);
+}
+
+
+SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
+{
+	m_basis.deSerialize(dataIn.m_basis);
+	m_origin.deSerialize(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
+{
+	m_basis.deSerializeFloat(dataIn.m_basis);
+	m_origin.deSerializeFloat(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
+{
+	m_basis.deSerializeDouble(dataIn.m_basis);
+	m_origin.deSerializeDouble(dataIn.m_origin);
+}
+
+
+#endif //BT_TRANSFORM_H
+
+
+
+
+
+

data/deps/include/bullet/LinearMath/btTransformUtil.h

@@ -0,0 +1,228 @@
+/*
+Copyright (c) 2003-2006 Gino van den Bergen / 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_TRANSFORM_UTIL_H
+#define BT_TRANSFORM_UTIL_H
+
+#include "btTransform.h"
+#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
+
+
+
+
+SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
+{
+	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
+      supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
+      supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); 
+}
+
+
+
+
+
+
+/// Utils related to temporal transforms
+class btTransformUtil
+{
+
+public:
+
+	static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
+	{
+		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
+//	#define QUATERNION_DERIVATIVE
+	#ifdef QUATERNION_DERIVATIVE
+		btQuaternion predictedOrn = curTrans.getRotation();
+		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
+		predictedOrn.normalize();
+	#else
+		//Exponential map
+		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
+
+		btVector3 axis;
+		btScalar	fAngle = angvel.length(); 
+		//limit the angular motion
+		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
+		{
+			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
+		}
+
+		if ( fAngle < btScalar(0.001) )
+		{
+			// use Taylor's expansions of sync function
+			axis   = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
+		}
+		else
+		{
+			// sync(fAngle) = sin(c*fAngle)/t
+			axis   = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
+		}
+		btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
+		btQuaternion orn0 = curTrans.getRotation();
+
+		btQuaternion predictedOrn = dorn * orn0;
+		predictedOrn.normalize();
+	#endif
+		predictedTransform.setRotation(predictedOrn);
+	}
+
+	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	{
+		linVel = (pos1 - pos0) / timeStep;
+		btVector3 axis;
+		btScalar  angle;
+		if (orn0 != orn1)
+		{
+			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
+			angVel = axis * angle / timeStep;
+		} else
+		{
+			angVel.setValue(0,0,0);
+		}
+	}
+
+	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
+	{
+		btQuaternion orn1 = orn0.nearest(orn1a);
+		btQuaternion dorn = orn1 * orn0.inverse();
+		angle = dorn.getAngle();
+		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis[3] = btScalar(0.);
+		//check for axis length
+		btScalar len = axis.length2();
+		if (len < SIMD_EPSILON*SIMD_EPSILON)
+			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		else
+			axis /= btSqrt(len);
+	}
+
+	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
+	{
+		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
+		btVector3 axis;
+		btScalar  angle;
+		calculateDiffAxisAngle(transform0,transform1,axis,angle);
+		angVel = axis * angle / timeStep;
+	}
+
+	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
+	{
+		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
+		btQuaternion dorn;
+		dmat.getRotation(dorn);
+
+		///floating point inaccuracy can lead to w component > 1..., which breaks 
+		dorn.normalize();
+		
+		angle = dorn.getAngle();
+		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
+		axis[3] = btScalar(0.);
+		//check for axis length
+		btScalar len = axis.length2();
+		if (len < SIMD_EPSILON*SIMD_EPSILON)
+			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
+		else
+			axis /= btSqrt(len);
+	}
+
+};
+
+
+///The btConvexSeparatingDistanceUtil can help speed up convex collision detection 
+///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
+class	btConvexSeparatingDistanceUtil
+{
+	btQuaternion	m_ornA;
+	btQuaternion	m_ornB;
+	btVector3	m_posA;
+	btVector3	m_posB;
+	
+	btVector3	m_separatingNormal;
+
+	btScalar	m_boundingRadiusA;
+	btScalar	m_boundingRadiusB;
+	btScalar	m_separatingDistance;
+
+public:
+
+	btConvexSeparatingDistanceUtil(btScalar	boundingRadiusA,btScalar	boundingRadiusB)
+		:m_boundingRadiusA(boundingRadiusA),
+		m_boundingRadiusB(boundingRadiusB),
+		m_separatingDistance(0.f)
+	{
+	}
+
+	btScalar	getConservativeSeparatingDistance()
+	{
+		return m_separatingDistance;
+	}
+
+	void	updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
+	{
+		const btVector3& toPosA = transA.getOrigin();
+		const btVector3& toPosB = transB.getOrigin();
+		btQuaternion toOrnA = transA.getRotation();
+		btQuaternion toOrnB = transB.getRotation();
+
+		if (m_separatingDistance>0.f)
+		{
+			
+
+			btVector3 linVelA,angVelA,linVelB,angVelB;
+			btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
+			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
+			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
+			btVector3 relLinVel = (linVelB-linVelA);
+			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
+			if (relLinVelocLength<0.f)
+			{
+				relLinVelocLength = 0.f;
+			}
+	
+			btScalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
+			m_separatingDistance -= projectedMotion;
+		}
+	
+		m_posA = toPosA;
+		m_posB = toPosB;
+		m_ornA = toOrnA;
+		m_ornB = toOrnB;
+	}
+
+	void	initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
+	{
+		m_separatingDistance = separatingDistance;
+
+		if (m_separatingDistance>0.f)
+		{
+			m_separatingNormal = separatingVector;
+			
+			const btVector3& toPosA = transA.getOrigin();
+			const btVector3& toPosB = transB.getOrigin();
+			btQuaternion toOrnA = transA.getRotation();
+			btQuaternion toOrnB = transB.getRotation();
+			m_posA = toPosA;
+			m_posB = toPosB;
+			m_ornA = toOrnA;
+			m_ornB = toOrnB;
+		}
+	}
+
+};
+
+
+#endif //BT_TRANSFORM_UTIL_H
+