ruby-bullet 0.0.2-x86-mingw32

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  1. data/INSTALL.md +22 -0
  2. data/LICENSE +23 -0
  3. data/README.md +41 -0
  4. data/Rakefile +131 -0
  5. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
  6. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
  7. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
  8. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
  9. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
  10. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
  11. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
  12. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
  13. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
  14. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
  15. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
  16. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
  17. data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
  18. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
  19. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
  20. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
  21. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
  22. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
  23. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
  24. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
  25. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
  26. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
  27. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
  28. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
  29. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
  30. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
  31. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
  32. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
  33. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
  34. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
  35. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
  36. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
  37. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
  38. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
  39. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
  40. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
  41. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
  42. data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
  43. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
  44. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
  45. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
  46. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
  47. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
  48. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
  49. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
  50. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
  51. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
  52. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
  53. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
  54. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
  55. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
  56. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
  57. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
  58. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
  59. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
  60. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
  61. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
  62. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
  63. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
  64. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
  65. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
  66. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
  67. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
  68. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
  69. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
  70. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
  71. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
  72. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
  73. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
  74. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
  75. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
  76. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
  77. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
  78. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
  79. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
  80. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
  81. data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
  82. data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
  83. data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
  84. data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
  85. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
  86. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
  87. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
  88. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
  89. data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
  90. data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
  91. data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
  92. data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
  93. data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
  94. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
  95. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
  96. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
  97. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
  98. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
  99. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
  100. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
  101. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
  102. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
  103. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
  104. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
  105. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
  106. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
  107. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
  108. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
  109. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
  110. data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
  111. data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
  112. data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
  113. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
  114. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
  115. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
  116. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
  117. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
  118. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
  119. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
  120. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
  121. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
  122. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
  123. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
  124. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
  125. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
  126. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
  127. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
  128. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
  129. data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
  130. data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
  131. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
  132. data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
  133. data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
  134. data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
  135. data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
  136. data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
  137. data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
  138. data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
  139. data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
  140. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
  141. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
  142. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
  143. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
  144. data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
  145. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
  146. data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
  147. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
  148. data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
  149. data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
  150. data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
  151. data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
  152. data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
  153. data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
  154. data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
  155. data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
  156. data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
  157. data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
  158. data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
  159. data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
  160. data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
  161. data/bindings/bullet/interface/LinearMath/btList.i +8 -0
  162. data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
  163. data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
  164. data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
  165. data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
  166. data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
  167. data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
  168. data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
  169. data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
  170. data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
  171. data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
  172. data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
  173. data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
  174. data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
  175. data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
  176. data/bindings/bullet/interface/Makefile +19 -0
  177. data/bindings/bullet/interface/bullet.i +9 -0
  178. data/bindings/bullet/interface/bullet_all.i +186 -0
  179. data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
  180. data/bindings/bullet/interface/bullet_wrap.h +106 -0
  181. data/bindings/bullet/interface/bullet_wrap.o +0 -0
  182. data/bindings/bullet/src/TickListener.h +22 -0
  183. data/deps/include/bullet/Bullet-C-Api.h +176 -0
  184. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
  185. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
  186. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
  187. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
  188. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
  189. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
  190. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
  191. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
  192. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
  193. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
  194. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
  195. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
  196. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
  197. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp +489 -0
  198. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +151 -0
  199. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp +633 -0
  200. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +469 -0
  201. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +40 -0
  202. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp +1375 -0
  203. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +579 -0
  204. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp +349 -0
  205. data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +171 -0
  206. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btAxisSweep3.obj +0 -0
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  209. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btDbvt.obj +0 -0
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  212. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/BroadphaseCollision/btMultiSapBroadphase.obj +0 -0
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  229. data/deps/include/bullet/BulletCollision/CMakeFiles/BulletCollision.dir/CollisionDispatch/btConvexPlaneCollisionAlgorithm.obj +0 -0
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@@ -0,0 +1,405 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ /*
17
+ Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
18
+ Work in progress, functionality will be added on demand.
19
+
20
+ If possible, use the richer Bullet C++ API, by including <src/btBulletDynamicsCommon.h>
21
+ */
22
+
23
+ #include "Bullet-C-Api.h"
24
+ #include "btBulletDynamicsCommon.h"
25
+ #include "LinearMath/btAlignedAllocator.h"
26
+
27
+
28
+
29
+ #include "LinearMath/btVector3.h"
30
+ #include "LinearMath/btScalar.h"
31
+ #include "LinearMath/btMatrix3x3.h"
32
+ #include "LinearMath/btTransform.h"
33
+ #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
34
+ #include "BulletCollision/CollisionShapes/btTriangleShape.h"
35
+
36
+ #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
37
+ #include "BulletCollision/NarrowPhaseCollision/btPointCollector.h"
38
+ #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
39
+ #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
40
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
41
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
42
+ #include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
43
+ #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
44
+ #include "BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h"
45
+ #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
46
+
47
+
48
+ /*
49
+ Create and Delete a Physics SDK
50
+ */
51
+
52
+ struct btPhysicsSdk
53
+ {
54
+
55
+ // btDispatcher* m_dispatcher;
56
+ // btOverlappingPairCache* m_pairCache;
57
+ // btConstraintSolver* m_constraintSolver
58
+
59
+ btVector3 m_worldAabbMin;
60
+ btVector3 m_worldAabbMax;
61
+
62
+
63
+ //todo: version, hardware/optimization settings etc?
64
+ btPhysicsSdk()
65
+ :m_worldAabbMin(-1000,-1000,-1000),
66
+ m_worldAabbMax(1000,1000,1000)
67
+ {
68
+
69
+ }
70
+
71
+
72
+ };
73
+
74
+ plPhysicsSdkHandle plNewBulletSdk()
75
+ {
76
+ void* mem = btAlignedAlloc(sizeof(btPhysicsSdk),16);
77
+ return (plPhysicsSdkHandle)new (mem)btPhysicsSdk;
78
+ }
79
+
80
+ void plDeletePhysicsSdk(plPhysicsSdkHandle physicsSdk)
81
+ {
82
+ btPhysicsSdk* phys = reinterpret_cast<btPhysicsSdk*>(physicsSdk);
83
+ btAlignedFree(phys);
84
+ }
85
+
86
+
87
+ /* Dynamics World */
88
+ plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdkHandle)
89
+ {
90
+ btPhysicsSdk* physicsSdk = reinterpret_cast<btPhysicsSdk*>(physicsSdkHandle);
91
+ void* mem = btAlignedAlloc(sizeof(btDefaultCollisionConfiguration),16);
92
+ btDefaultCollisionConfiguration* collisionConfiguration = new (mem)btDefaultCollisionConfiguration();
93
+ mem = btAlignedAlloc(sizeof(btCollisionDispatcher),16);
94
+ btDispatcher* dispatcher = new (mem)btCollisionDispatcher(collisionConfiguration);
95
+ mem = btAlignedAlloc(sizeof(btAxisSweep3),16);
96
+ btBroadphaseInterface* pairCache = new (mem)btAxisSweep3(physicsSdk->m_worldAabbMin,physicsSdk->m_worldAabbMax);
97
+ mem = btAlignedAlloc(sizeof(btSequentialImpulseConstraintSolver),16);
98
+ btConstraintSolver* constraintSolver = new(mem) btSequentialImpulseConstraintSolver();
99
+
100
+ mem = btAlignedAlloc(sizeof(btDiscreteDynamicsWorld),16);
101
+ return (plDynamicsWorldHandle) new (mem)btDiscreteDynamicsWorld(dispatcher,pairCache,constraintSolver,collisionConfiguration);
102
+ }
103
+ void plDeleteDynamicsWorld(plDynamicsWorldHandle world)
104
+ {
105
+ //todo: also clean up the other allocations, axisSweep, pairCache,dispatcher,constraintSolver,collisionConfiguration
106
+ btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
107
+ btAlignedFree(dynamicsWorld);
108
+ }
109
+
110
+ void plStepSimulation(plDynamicsWorldHandle world, plReal timeStep)
111
+ {
112
+ btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
113
+ btAssert(dynamicsWorld);
114
+ dynamicsWorld->stepSimulation(timeStep);
115
+ }
116
+
117
+ void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
118
+ {
119
+ btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
120
+ btAssert(dynamicsWorld);
121
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
122
+ btAssert(body);
123
+
124
+ dynamicsWorld->addRigidBody(body);
125
+ }
126
+
127
+ void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object)
128
+ {
129
+ btDynamicsWorld* dynamicsWorld = reinterpret_cast< btDynamicsWorld* >(world);
130
+ btAssert(dynamicsWorld);
131
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
132
+ btAssert(body);
133
+
134
+ dynamicsWorld->removeRigidBody(body);
135
+ }
136
+
137
+ /* Rigid Body */
138
+
139
+ plRigidBodyHandle plCreateRigidBody( void* user_data, float mass, plCollisionShapeHandle cshape )
140
+ {
141
+ btTransform trans;
142
+ trans.setIdentity();
143
+ btVector3 localInertia(0,0,0);
144
+ btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
145
+ btAssert(shape);
146
+ if (mass)
147
+ {
148
+ shape->calculateLocalInertia(mass,localInertia);
149
+ }
150
+ void* mem = btAlignedAlloc(sizeof(btRigidBody),16);
151
+ btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0,shape,localInertia);
152
+ btRigidBody* body = new (mem)btRigidBody(rbci);
153
+ body->setWorldTransform(trans);
154
+ body->setUserPointer(user_data);
155
+ return (plRigidBodyHandle) body;
156
+ }
157
+
158
+ void plDeleteRigidBody(plRigidBodyHandle cbody)
159
+ {
160
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(cbody);
161
+ btAssert(body);
162
+ btAlignedFree( body);
163
+ }
164
+
165
+
166
+ /* Collision Shape definition */
167
+
168
+ plCollisionShapeHandle plNewSphereShape(plReal radius)
169
+ {
170
+ void* mem = btAlignedAlloc(sizeof(btSphereShape),16);
171
+ return (plCollisionShapeHandle) new (mem)btSphereShape(radius);
172
+
173
+ }
174
+
175
+ plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z)
176
+ {
177
+ void* mem = btAlignedAlloc(sizeof(btBoxShape),16);
178
+ return (plCollisionShapeHandle) new (mem)btBoxShape(btVector3(x,y,z));
179
+ }
180
+
181
+ plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height)
182
+ {
183
+ //capsule is convex hull of 2 spheres, so use btMultiSphereShape
184
+
185
+ const int numSpheres = 2;
186
+ btVector3 positions[numSpheres] = {btVector3(0,height,0),btVector3(0,-height,0)};
187
+ btScalar radi[numSpheres] = {radius,radius};
188
+ void* mem = btAlignedAlloc(sizeof(btMultiSphereShape),16);
189
+ return (plCollisionShapeHandle) new (mem)btMultiSphereShape(positions,radi,numSpheres);
190
+ }
191
+ plCollisionShapeHandle plNewConeShape(plReal radius, plReal height)
192
+ {
193
+ void* mem = btAlignedAlloc(sizeof(btConeShape),16);
194
+ return (plCollisionShapeHandle) new (mem)btConeShape(radius,height);
195
+ }
196
+
197
+ plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height)
198
+ {
199
+ void* mem = btAlignedAlloc(sizeof(btCylinderShape),16);
200
+ return (plCollisionShapeHandle) new (mem)btCylinderShape(btVector3(radius,height,radius));
201
+ }
202
+
203
+ /* Convex Meshes */
204
+ plCollisionShapeHandle plNewConvexHullShape()
205
+ {
206
+ void* mem = btAlignedAlloc(sizeof(btConvexHullShape),16);
207
+ return (plCollisionShapeHandle) new (mem)btConvexHullShape();
208
+ }
209
+
210
+
211
+ /* Concave static triangle meshes */
212
+ plMeshInterfaceHandle plNewMeshInterface()
213
+ {
214
+ return 0;
215
+ }
216
+
217
+ plCollisionShapeHandle plNewCompoundShape()
218
+ {
219
+ void* mem = btAlignedAlloc(sizeof(btCompoundShape),16);
220
+ return (plCollisionShapeHandle) new (mem)btCompoundShape();
221
+ }
222
+
223
+ void plAddChildShape(plCollisionShapeHandle compoundShapeHandle,plCollisionShapeHandle childShapeHandle, plVector3 childPos,plQuaternion childOrn)
224
+ {
225
+ btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>(compoundShapeHandle);
226
+ btAssert(colShape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE);
227
+ btCompoundShape* compoundShape = reinterpret_cast<btCompoundShape*>(colShape);
228
+ btCollisionShape* childShape = reinterpret_cast<btCollisionShape*>(childShapeHandle);
229
+ btTransform localTrans;
230
+ localTrans.setIdentity();
231
+ localTrans.setOrigin(btVector3(childPos[0],childPos[1],childPos[2]));
232
+ localTrans.setRotation(btQuaternion(childOrn[0],childOrn[1],childOrn[2],childOrn[3]));
233
+ compoundShape->addChildShape(localTrans,childShape);
234
+ }
235
+
236
+ void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient)
237
+ {
238
+ btQuaternion orn;
239
+ orn.setEuler(yaw,pitch,roll);
240
+ orient[0] = orn.getX();
241
+ orient[1] = orn.getY();
242
+ orient[2] = orn.getZ();
243
+ orient[3] = orn.getW();
244
+
245
+ }
246
+
247
+
248
+ // extern void plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
249
+ // extern plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
250
+
251
+
252
+ void plAddVertex(plCollisionShapeHandle cshape, plReal x,plReal y,plReal z)
253
+ {
254
+ btCollisionShape* colShape = reinterpret_cast<btCollisionShape*>( cshape);
255
+ (void)colShape;
256
+ btAssert(colShape->getShapeType()==CONVEX_HULL_SHAPE_PROXYTYPE);
257
+ btConvexHullShape* convexHullShape = reinterpret_cast<btConvexHullShape*>( cshape);
258
+ convexHullShape->addPoint(btVector3(x,y,z));
259
+
260
+ }
261
+
262
+ void plDeleteShape(plCollisionShapeHandle cshape)
263
+ {
264
+ btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
265
+ btAssert(shape);
266
+ btAlignedFree(shape);
267
+ }
268
+ void plSetScaling(plCollisionShapeHandle cshape, plVector3 cscaling)
269
+ {
270
+ btCollisionShape* shape = reinterpret_cast<btCollisionShape*>( cshape);
271
+ btAssert(shape);
272
+ btVector3 scaling(cscaling[0],cscaling[1],cscaling[2]);
273
+ shape->setLocalScaling(scaling);
274
+ }
275
+
276
+
277
+
278
+ void plSetPosition(plRigidBodyHandle object, const plVector3 position)
279
+ {
280
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
281
+ btAssert(body);
282
+ btVector3 pos(position[0],position[1],position[2]);
283
+ btTransform worldTrans = body->getWorldTransform();
284
+ worldTrans.setOrigin(pos);
285
+ body->setWorldTransform(worldTrans);
286
+ }
287
+
288
+ void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation)
289
+ {
290
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
291
+ btAssert(body);
292
+ btQuaternion orn(orientation[0],orientation[1],orientation[2],orientation[3]);
293
+ btTransform worldTrans = body->getWorldTransform();
294
+ worldTrans.setRotation(orn);
295
+ body->setWorldTransform(worldTrans);
296
+ }
297
+
298
+ void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
299
+ {
300
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
301
+ btAssert(body);
302
+ btTransform& worldTrans = body->getWorldTransform();
303
+ worldTrans.setFromOpenGLMatrix(matrix);
304
+ }
305
+
306
+ void plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix)
307
+ {
308
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
309
+ btAssert(body);
310
+ body->getWorldTransform().getOpenGLMatrix(matrix);
311
+
312
+ }
313
+
314
+ void plGetPosition(plRigidBodyHandle object,plVector3 position)
315
+ {
316
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
317
+ btAssert(body);
318
+ const btVector3& pos = body->getWorldTransform().getOrigin();
319
+ position[0] = pos.getX();
320
+ position[1] = pos.getY();
321
+ position[2] = pos.getZ();
322
+ }
323
+
324
+ void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation)
325
+ {
326
+ btRigidBody* body = reinterpret_cast< btRigidBody* >(object);
327
+ btAssert(body);
328
+ const btQuaternion& orn = body->getWorldTransform().getRotation();
329
+ orientation[0] = orn.getX();
330
+ orientation[1] = orn.getY();
331
+ orientation[2] = orn.getZ();
332
+ orientation[3] = orn.getW();
333
+ }
334
+
335
+
336
+
337
+ //plRigidBodyHandle plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
338
+
339
+ // extern plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal);
340
+
341
+ double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3])
342
+ {
343
+ btVector3 vp(p1[0], p1[1], p1[2]);
344
+ btTriangleShape trishapeA(vp,
345
+ btVector3(p2[0], p2[1], p2[2]),
346
+ btVector3(p3[0], p3[1], p3[2]));
347
+ trishapeA.setMargin(0.000001f);
348
+ btVector3 vq(q1[0], q1[1], q1[2]);
349
+ btTriangleShape trishapeB(vq,
350
+ btVector3(q2[0], q2[1], q2[2]),
351
+ btVector3(q3[0], q3[1], q3[2]));
352
+ trishapeB.setMargin(0.000001f);
353
+
354
+ // btVoronoiSimplexSolver sGjkSimplexSolver;
355
+ // btGjkEpaPenetrationDepthSolver penSolverPtr;
356
+
357
+ static btSimplexSolverInterface sGjkSimplexSolver;
358
+ sGjkSimplexSolver.reset();
359
+
360
+ static btGjkEpaPenetrationDepthSolver Solver0;
361
+ static btMinkowskiPenetrationDepthSolver Solver1;
362
+
363
+ btConvexPenetrationDepthSolver* Solver = NULL;
364
+
365
+ Solver = &Solver1;
366
+
367
+ btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,Solver);
368
+
369
+ convexConvex.m_catchDegeneracies = 1;
370
+
371
+ // btGjkPairDetector convexConvex(&trishapeA ,&trishapeB,&sGjkSimplexSolver,0);
372
+
373
+ btPointCollector gjkOutput;
374
+ btGjkPairDetector::ClosestPointInput input;
375
+
376
+
377
+ btTransform tr;
378
+ tr.setIdentity();
379
+
380
+ input.m_transformA = tr;
381
+ input.m_transformB = tr;
382
+
383
+ convexConvex.getClosestPoints(input, gjkOutput, 0);
384
+
385
+
386
+ if (gjkOutput.m_hasResult)
387
+ {
388
+
389
+ pb[0] = pa[0] = gjkOutput.m_pointInWorld[0];
390
+ pb[1] = pa[1] = gjkOutput.m_pointInWorld[1];
391
+ pb[2] = pa[2] = gjkOutput.m_pointInWorld[2];
392
+
393
+ pb[0]+= gjkOutput.m_normalOnBInWorld[0] * gjkOutput.m_distance;
394
+ pb[1]+= gjkOutput.m_normalOnBInWorld[1] * gjkOutput.m_distance;
395
+ pb[2]+= gjkOutput.m_normalOnBInWorld[2] * gjkOutput.m_distance;
396
+
397
+ normal[0] = gjkOutput.m_normalOnBInWorld[0];
398
+ normal[1] = gjkOutput.m_normalOnBInWorld[1];
399
+ normal[2] = gjkOutput.m_normalOnBInWorld[2];
400
+
401
+ return gjkOutput.m_distance;
402
+ }
403
+ return -1.0f;
404
+ }
405
+
@@ -0,0 +1,46 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 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.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+ #ifndef _BT_ACTION_INTERFACE_H
17
+ #define _BT_ACTION_INTERFACE_H
18
+
19
+ class btIDebugDraw;
20
+ class btCollisionWorld;
21
+
22
+ #include "LinearMath/btScalar.h"
23
+ #include "btRigidBody.h"
24
+
25
+ ///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
26
+ class btActionInterface
27
+ {
28
+ protected:
29
+
30
+ static btRigidBody& getFixedBody();
31
+
32
+
33
+ public:
34
+
35
+ virtual ~btActionInterface()
36
+ {
37
+ }
38
+
39
+ virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
40
+
41
+ virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
42
+
43
+ };
44
+
45
+ #endif //_BT_ACTION_INTERFACE_H
46
+