ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -0,0 +1,381 @@
+/*
+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.
+*/
+
+/* Hinge Constraint by Dirk Gregorius. Limits added by Marcus Hennix at Starbreeze Studios */
+
+#ifndef BT_HINGECONSTRAINT_H
+#define BT_HINGECONSTRAINT_H
+
+#define _BT_USE_CENTER_LIMIT_ 1
+
+
+#include "LinearMath/btVector3.h"
+#include "btJacobianEntry.h"
+#include "btTypedConstraint.h"
+
+class btRigidBody;
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btHingeConstraintData	btHingeConstraintDoubleData
+#define btHingeConstraintDataName	"btHingeConstraintDoubleData"
+#else
+#define btHingeConstraintData	btHingeConstraintFloatData
+#define btHingeConstraintDataName	"btHingeConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
+enum btHingeFlags
+{
+	BT_HINGE_FLAGS_CFM_STOP = 1,
+	BT_HINGE_FLAGS_ERP_STOP = 2,
+	BT_HINGE_FLAGS_CFM_NORM = 4
+};
+
+
+/// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
+/// axis defines the orientation of the hinge axis
+ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
+{
+#ifdef IN_PARALLELL_SOLVER
+public:
+#endif
+	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
+	btJacobianEntry	m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+
+	btTransform m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransform m_rbBFrame;
+
+	btScalar	m_motorTargetVelocity;
+	btScalar	m_maxMotorImpulse;
+
+
+#ifdef	_BT_USE_CENTER_LIMIT_
+	btAngularLimit	m_limit;
+#else
+	btScalar	m_lowerLimit;	
+	btScalar	m_upperLimit;	
+	btScalar	m_limitSign;
+	btScalar	m_correction;
+
+	btScalar	m_limitSoftness; 
+	btScalar	m_biasFactor; 
+	btScalar	m_relaxationFactor; 
+
+	bool		m_solveLimit;
+#endif
+
+	btScalar	m_kHinge;
+
+
+	btScalar	m_accLimitImpulse;
+	btScalar	m_hingeAngle;
+	btScalar	m_referenceSign;
+
+	bool		m_angularOnly;
+	bool		m_enableAngularMotor;
+	bool		m_useSolveConstraintObsolete;
+	bool		m_useOffsetForConstraintFrame;
+	bool		m_useReferenceFrameA;
+
+	btScalar	m_accMotorImpulse;
+
+	int			m_flags;
+	btScalar	m_normalCFM;
+	btScalar	m_stopCFM;
+	btScalar	m_stopERP;
+
+	
+public:
+
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB, const btVector3& axisInA,const btVector3& axisInB, bool useReferenceFrameA = false);
+
+	btHingeConstraint(btRigidBody& rbA,const btVector3& pivotInA,const btVector3& axisInA, bool useReferenceFrameA = false);
+	
+	btHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
+
+	btHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA = false);
+
+
+	virtual void	buildJacobian();
+
+	virtual void getInfo1 (btConstraintInfo1* info);
+
+	void getInfo1NonVirtual(btConstraintInfo1* info);
+
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+
+	void	getInfo2Internal(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+	void	getInfo2InternalUsingFrameOffset(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btVector3& angVelA,const btVector3& angVelB);
+		
+
+	void	updateRHS(btScalar	timeStep);
+
+	const btRigidBody& getRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	const btRigidBody& getRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	btRigidBody& getRigidBodyA()	
+	{		
+		return m_rbA;	
+	}	
+
+	btRigidBody& getRigidBodyB()	
+	{		
+		return m_rbB;	
+	}
+
+	btTransform& getFrameOffsetA()
+	{
+	return m_rbAFrame;
+	}
+
+	btTransform& getFrameOffsetB()
+	{
+		return m_rbBFrame;
+	}
+
+	void setFrames(const btTransform& frameA, const btTransform& frameB);
+	
+	void	setAngularOnly(bool angularOnly)
+	{
+		m_angularOnly = angularOnly;
+	}
+
+	void	enableAngularMotor(bool enableMotor,btScalar targetVelocity,btScalar maxMotorImpulse)
+	{
+		m_enableAngularMotor  = enableMotor;
+		m_motorTargetVelocity = targetVelocity;
+		m_maxMotorImpulse = maxMotorImpulse;
+	}
+
+	// extra motor API, including ability to set a target rotation (as opposed to angular velocity)
+	// note: setMotorTarget sets angular velocity under the hood, so you must call it every tick to
+	//       maintain a given angular target.
+	void enableMotor(bool enableMotor) 	{ m_enableAngularMotor = enableMotor; }
+	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; }
+	void setMotorTarget(const btQuaternion& qAinB, btScalar dt); // qAinB is rotation of body A wrt body B.
+	void setMotorTarget(btScalar targetAngle, btScalar dt);
+
+
+	void	setLimit(btScalar low,btScalar high,btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+		m_limit.set(low, high, _softness, _biasFactor, _relaxationFactor);
+#else
+		m_lowerLimit = btNormalizeAngle(low);
+		m_upperLimit = btNormalizeAngle(high);
+		m_limitSoftness =  _softness;
+		m_biasFactor = _biasFactor;
+		m_relaxationFactor = _relaxationFactor;
+#endif
+	}
+
+	void	setAxis(btVector3& axisInA)
+	{
+		btVector3 rbAxisA1, rbAxisA2;
+		btPlaneSpace1(axisInA, rbAxisA1, rbAxisA2);
+		btVector3 pivotInA = m_rbAFrame.getOrigin();
+//		m_rbAFrame.getOrigin() = pivotInA;
+		m_rbAFrame.getBasis().setValue( rbAxisA1.getX(),rbAxisA2.getX(),axisInA.getX(),
+										rbAxisA1.getY(),rbAxisA2.getY(),axisInA.getY(),
+										rbAxisA1.getZ(),rbAxisA2.getZ(),axisInA.getZ() );
+
+		btVector3 axisInB = m_rbA.getCenterOfMassTransform().getBasis() * axisInA;
+
+		btQuaternion rotationArc = shortestArcQuat(axisInA,axisInB);
+		btVector3 rbAxisB1 =  quatRotate(rotationArc,rbAxisA1);
+		btVector3 rbAxisB2 = axisInB.cross(rbAxisB1);
+
+		m_rbBFrame.getOrigin() = m_rbB.getCenterOfMassTransform().inverse()(m_rbA.getCenterOfMassTransform()(pivotInA));
+
+		m_rbBFrame.getBasis().setValue( rbAxisB1.getX(),rbAxisB2.getX(),axisInB.getX(),
+										rbAxisB1.getY(),rbAxisB2.getY(),axisInB.getY(),
+										rbAxisB1.getZ(),rbAxisB2.getZ(),axisInB.getZ() );
+		m_rbBFrame.getBasis() = m_rbB.getCenterOfMassTransform().getBasis().inverse() * m_rbBFrame.getBasis();
+
+	}
+
+	btScalar	getLowerLimit() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+	return m_limit.getLow();
+#else
+	return m_lowerLimit;
+#endif
+	}
+
+	btScalar	getUpperLimit() const
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+	return m_limit.getHigh();
+#else		
+	return m_upperLimit;
+#endif
+	}
+
+
+	btScalar getHingeAngle();
+
+	btScalar getHingeAngle(const btTransform& transA,const btTransform& transB);
+
+	void testLimit(const btTransform& transA,const btTransform& transB);
+
+
+	const btTransform& getAFrame() const { return m_rbAFrame; };	
+	const btTransform& getBFrame() const { return m_rbBFrame; };
+
+	btTransform& getAFrame() { return m_rbAFrame; };	
+	btTransform& getBFrame() { return m_rbBFrame; };
+
+	inline int getSolveLimit()
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+	return m_limit.isLimit();
+#else
+	return m_solveLimit;
+#endif
+	}
+
+	inline btScalar getLimitSign()
+	{
+#ifdef	_BT_USE_CENTER_LIMIT_
+	return m_limit.getSign();
+#else
+		return m_limitSign;
+#endif
+	}
+
+	inline bool getAngularOnly() 
+	{ 
+		return m_angularOnly; 
+	}
+	inline bool getEnableAngularMotor() 
+	{ 
+		return m_enableAngularMotor; 
+	}
+	inline btScalar getMotorTargetVelosity() 
+	{ 
+		return m_motorTargetVelocity; 
+	}
+	inline btScalar getMaxMotorImpulse() 
+	{ 
+		return m_maxMotorImpulse; 
+	}
+	// access for UseFrameOffset
+	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
+	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+
+	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
+	///If no axis is provided, it uses the default axis for this constraint.
+	virtual	void	setParam(int num, btScalar value, int axis = -1);
+	///return the local value of parameter
+	virtual	btScalar getParam(int num, int axis = -1) const;
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
+};
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btHingeConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformDoubleData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btHingeConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+
+
+
+SIMD_FORCE_INLINE	int	btHingeConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btHingeConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
+
+	m_rbAFrame.serialize(hingeData->m_rbAFrame);
+	m_rbBFrame.serialize(hingeData->m_rbBFrame);
+
+	hingeData->m_angularOnly = m_angularOnly;
+	hingeData->m_enableAngularMotor = m_enableAngularMotor;
+	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
+	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
+	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
+#ifdef	_BT_USE_CENTER_LIMIT_
+	hingeData->m_lowerLimit = float(m_limit.getLow());
+	hingeData->m_upperLimit = float(m_limit.getHigh());
+	hingeData->m_limitSoftness = float(m_limit.getSoftness());
+	hingeData->m_biasFactor = float(m_limit.getBiasFactor());
+	hingeData->m_relaxationFactor = float(m_limit.getRelaxationFactor());
+#else
+	hingeData->m_lowerLimit = float(m_lowerLimit);
+	hingeData->m_upperLimit = float(m_upperLimit);
+	hingeData->m_limitSoftness = float(m_limitSoftness);
+	hingeData->m_biasFactor = float(m_biasFactor);
+	hingeData->m_relaxationFactor = float(m_relaxationFactor);
+#endif
+
+	return btHingeConstraintDataName;
+}
+
+#endif //BT_HINGECONSTRAINT_H

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h

@@ -0,0 +1,156 @@
+/*
+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_JACOBIAN_ENTRY_H
+#define BT_JACOBIAN_ENTRY_H
+
+#include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+
+
+//notes:
+// Another memory optimization would be to store m_1MinvJt in the remaining 3 w components
+// which makes the btJacobianEntry memory layout 16 bytes
+// if you only are interested in angular part, just feed massInvA and massInvB zero
+
+/// Jacobian entry is an abstraction that allows to describe constraints
+/// it can be used in combination with a constraint solver
+/// Can be used to relate the effect of an impulse to the constraint error
+ATTRIBUTE_ALIGNED16(class) btJacobianEntry
+{
+public:
+	btJacobianEntry() {};
+	//constraint between two different rigidbodies
+	btJacobianEntry(
+		const btMatrix3x3& world2A,
+		const btMatrix3x3& world2B,
+		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& jointAxis,
+		const btVector3& inertiaInvA, 
+		const btScalar massInvA,
+		const btVector3& inertiaInvB,
+		const btScalar massInvB)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ = world2A*(rel_pos1.cross(m_linearJointAxis));
+		m_bJ = world2B*(rel_pos2.cross(-m_linearJointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ) + massInvB + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	btJacobianEntry(const btVector3& jointAxis,
+		const btMatrix3x3& world2A,
+		const btMatrix3x3& world2B,
+		const btVector3& inertiaInvA,
+		const btVector3& inertiaInvB)
+		:m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+	{
+		m_aJ= world2A*jointAxis;
+		m_bJ = world2B*-jointAxis;
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//angular constraint between two different rigidbodies
+	btJacobianEntry(const btVector3& axisInA,
+		const btVector3& axisInB,
+		const btVector3& inertiaInvA,
+		const btVector3& inertiaInvB)
+		: m_linearJointAxis(btVector3(btScalar(0.),btScalar(0.),btScalar(0.)))
+		, m_aJ(axisInA)
+		, m_bJ(-axisInB)
+	{
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = inertiaInvB * m_bJ;
+		m_Adiag =  m_0MinvJt.dot(m_aJ) + m_1MinvJt.dot(m_bJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	//constraint on one rigidbody
+	btJacobianEntry(
+		const btMatrix3x3& world2A,
+		const btVector3& rel_pos1,const btVector3& rel_pos2,
+		const btVector3& jointAxis,
+		const btVector3& inertiaInvA, 
+		const btScalar massInvA)
+		:m_linearJointAxis(jointAxis)
+	{
+		m_aJ= world2A*(rel_pos1.cross(jointAxis));
+		m_bJ = world2A*(rel_pos2.cross(-jointAxis));
+		m_0MinvJt	= inertiaInvA * m_aJ;
+		m_1MinvJt = btVector3(btScalar(0.),btScalar(0.),btScalar(0.));
+		m_Adiag = massInvA + m_0MinvJt.dot(m_aJ);
+
+		btAssert(m_Adiag > btScalar(0.0));
+	}
+
+	btScalar	getDiagonal() const { return m_Adiag; }
+
+	// for two constraints on the same rigidbody (for example vehicle friction)
+	btScalar	getNonDiagonal(const btJacobianEntry& jacB, const btScalar massInvA) const
+	{
+		const btJacobianEntry& jacA = *this;
+		btScalar lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
+		btScalar ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
+		return lin + ang;
+	}
+
+	
+
+	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
+	btScalar	getNonDiagonal(const btJacobianEntry& jacB,const btScalar massInvA,const btScalar massInvB) const
+	{
+		const btJacobianEntry& jacA = *this;
+		btVector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
+		btVector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
+		btVector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
+		btVector3 lin0 = massInvA * lin ;
+		btVector3 lin1 = massInvB * lin;
+		btVector3 sum = ang0+ang1+lin0+lin1;
+		return sum[0]+sum[1]+sum[2];
+	}
+
+	btScalar getRelativeVelocity(const btVector3& linvelA,const btVector3& angvelA,const btVector3& linvelB,const btVector3& angvelB)
+	{
+		btVector3 linrel = linvelA - linvelB;
+		btVector3 angvela  = angvelA * m_aJ;
+		btVector3 angvelb  = angvelB * m_bJ;
+		linrel *= m_linearJointAxis;
+		angvela += angvelb;
+		angvela += linrel;
+		btScalar rel_vel2 = angvela[0]+angvela[1]+angvela[2];
+		return rel_vel2 + SIMD_EPSILON;
+	}
+//private:
+
+	btVector3	m_linearJointAxis;
+	btVector3	m_aJ;
+	btVector3	m_bJ;
+	btVector3	m_0MinvJt;
+	btVector3	m_1MinvJt;
+	//Optimization: can be stored in the w/last component of one of the vectors
+	btScalar	m_Adiag;
+
+};
+
+#endif //BT_JACOBIAN_ENTRY_H