ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/vectormath/vmInclude.h

@@ -0,0 +1,27 @@
+
+#ifndef __VM_INCLUDE_H
+#define __VM_INCLUDE_H
+
+#include "LinearMath/btScalar.h"
+
+#if defined (USE_SYSTEM_VECTORMATH) || defined (__CELLOS_LV2__)
+	#include <vectormath_aos.h>
+#else //(USE_SYSTEM_VECTORMATH)
+	#if defined (BT_USE_SSE) && defined (_WIN32)
+		#include "sse/vectormath_aos.h"
+	#else //all other platforms
+		#include "scalar/vectormath_aos.h"
+	#endif //(BT_USE_SSE) && defined (_WIN32)
+#endif //(USE_SYSTEM_VECTORMATH)
+
+
+
+typedef Vectormath::Aos::Vector3    vmVector3;
+typedef Vectormath::Aos::Quat       vmQuat;
+typedef Vectormath::Aos::Matrix3    vmMatrix3;
+typedef Vectormath::Aos::Transform3 vmTransform3;
+typedef Vectormath::Aos::Point3     vmPoint3;
+
+#endif //__VM_INCLUDE_H
+
+

data/lib/BulletConfig.rb

@@ -0,0 +1,28 @@
+class BulletConfig
+  def self.getTopDir
+    File.dirname(File.dirname(File.expand_path(__FILE__)))
+  end
+
+  def self.getDepsLibPath
+    "#{getTopDir()}/deps/lib"
+  end
+
+  def self.getDepsIncPath
+    "#{getTopDir()}/deps/include/bullet/"
+  end
+
+  def self.getIncFlags
+    " -I#{getTopDir()}/deps/include/bullet/ " +     
+    " -I#{getTopDir()}/deps/include/bullet/LinearMath/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletCollision/CollisionDispatch/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletCollision/BroadphaseCollision/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletCollision/NarrowPhaseCollision/ " +
+    " -I#{getTopDir()}/deps/include/bullet/BulletCollision/CollisionShapes/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletCollision/Gimpact/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletDynamics/ConstraintSolver/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletDynamics/Dynamics/ " +
+    " -I#{getTopDir()}/deps/include/bullet/BulletDynamics/Vehicle/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletDynamics/Character/ " + 
+    " -I#{getTopDir()}/deps/include/bullet/BulletSoftBody/ "
+  end
+end

data/lib/Version.rb

@@ -0,0 +1,5 @@
+module Ruby
+  module Bullet
+    VERSION = "0.0.1"
+  end
+end

data/sample/hello_bullet/HelloBullet.rb

@@ -0,0 +1,144 @@
+require 'tk'
+require "Bullet.so"
+
+class Physics
+  def initialize()
+    @collisionConfig = Bullet::BtDefaultCollisionConfiguration.new();
+    @collisionDispatcher = Bullet::BtCollisionDispatcher.new(@collisionConfig)
+
+    worldAabbMin = Bullet::BtVector3.new(-3000.0,-500.0, -3000.0)
+    worldAabbMax = Bullet::BtVector3.new(3000.0, 500.0, 3000.0)
+    maxProxies = 1024 * 4
+    @gardenAabbCache = Bullet::BtAxisSweep3.new( worldAabbMin, worldAabbMax, maxProxies )
+
+    @solver = Bullet::BtSequentialImpulseConstraintSolver.new();
+
+    @dynamicsWorld = Bullet::BtDiscreteDynamicsWorld.new(@collisionDispatcher, @gardenAabbCache,
+                                                         @solver, @collisionConfig)
+    gravity = Bullet::BtVector3.new(0.0, 9.8, 0.0)
+    @dynamicsWorld.setGravity(gravity)
+
+    @lastTime = -1
+  end
+
+  def createBox(motionState, mass, width, height)
+    colObj = Bullet::BtBoxShape.new(Bullet::BtVector3.new(width / 2, height / 2, width / 2))
+    inertia = Bullet::BtVector3.new()
+    colObj.calculateLocalInertia(mass, inertia)
+
+    rigidBody = Bullet::BtRigidBody.new(mass, motionState, colObj, inertia)
+    rigidBody.instance_variable_set(:@collisionShape, colObj) 
+    rigidBody.setAngularFactor(Bullet::BtVector3.new(0, 0, 1)) # rotate around z-axis only.
+
+    @dynamicsWorld.addRigidBody(rigidBody)
+    return rigidBody
+  end
+
+  def update()
+    @lastTime = Time.now.to_f if @lastTime < 0
+
+    # calc delta
+    nowTime = Time.now.to_f
+    delta = nowTime - @lastTime
+    @lastTime = nowTime
+
+    # step 
+    @dynamicsWorld.stepSimulation(delta)
+
+    return true
+  end
+end
+
+
+class Box < Bullet::BtMotionState
+  def initialize(c, physics, mass, width, height, color)
+    super()
+    @c = c
+    @physics = physics
+    @width = width
+    @height = height
+
+    # position/rotation
+    @transform = Bullet::BtTransform.new()
+    @transform.setIdentity()
+
+    # create a physics object.
+    @rigidBody = @physics.createBox(self, mass, width, height)
+
+    # create a drawing object.
+    shape = [-width / 2, -height / 2, 
+              width / 2, -height / 2, 
+              width / 2,  height / 2,
+             -width / 2,  height / 2]
+    @obj = TkcPolygon.new(c, shape) { 
+      fill color 
+      outline 'black'
+      disabledoutline ''
+      width 1
+      state 'normal'
+    }
+
+  end
+
+  def setWorldTransform(worldTrans)
+    @transform = Bullet::BtTransform.new(worldTrans)
+    draw()
+  end
+
+  def getWorldTransform(worldTrans)
+  end
+
+  def setPosition(x, y)
+    @transform.setOrigin(Bullet::BtVector3.new(x, y, 0.0))
+    @rigidBody.setCenterOfMassTransform(@transform)
+
+    draw()
+  end    
+
+  def draw()
+    newPos = @transform.getOrigin()
+    newRot = @transform.getRotation()
+
+    lt = Bullet::BtVector3.new(-@width / 2, -@height / 2, 0)
+    lb = Bullet::BtVector3.new(-@width / 2, @height / 2 , 0)
+
+    lt = Bullet::quatRotate(newRot, lt)
+    lb = Bullet::quatRotate(newRot, lb)
+    rb = -lt
+    rt = -lb
+
+    shape = [newPos.x + lt.x, newPos.y + lt.y, 
+             newPos.x + rt.x, newPos.y + rt.y,
+             newPos.x + rb.x, newPos.y + rb.y,
+             newPos.x + lb.x, newPos.y + lb.y]
+    @obj.coords(shape)
+  end
+end
+
+
+physics = Physics.new()
+
+c = TkCanvas.new
+c.width(300)
+c.height(300)
+
+# falling boxes.
+box = []
+id = 0
+11.times {|x|
+  5.times {|y|
+    box[id] = Box.new(c, physics, 1.0, 10, 10, 'SkyBlue')
+    box[id].setPosition(100 + 10 * x, 50 - 10 * y)
+    id += 1
+  }
+}
+
+# floor
+floor = Box.new(c, physics, 0, 120, 6, 'gray')
+floor.setPosition(150, 200)
+
+c.pack
+
+TkAfter.new(1000 / 60, -1, proc{ physics.update()}).start
+
+Tk.mainloop