ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -0,0 +1,236 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BT_RAYCASTVEHICLE_H
+#define BT_RAYCASTVEHICLE_H
+
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+#include "btVehicleRaycaster.h"
+class btDynamicsWorld;
+#include "LinearMath/btAlignedObjectArray.h"
+#include "btWheelInfo.h"
+#include "BulletDynamics/Dynamics/btActionInterface.h"
+
+class btVehicleTuning;
+
+///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
+class btRaycastVehicle : public btActionInterface
+{
+
+		btAlignedObjectArray<btVector3>	m_forwardWS;
+		btAlignedObjectArray<btVector3>	m_axle;
+		btAlignedObjectArray<btScalar>	m_forwardImpulse;
+		btAlignedObjectArray<btScalar>	m_sideImpulse;
+	
+		///backwards compatibility
+		int	m_userConstraintType;
+		int	m_userConstraintId;
+
+public:
+	class btVehicleTuning
+		{
+			public:
+
+			btVehicleTuning()
+				:m_suspensionStiffness(btScalar(5.88)),
+				m_suspensionCompression(btScalar(0.83)),
+				m_suspensionDamping(btScalar(0.88)),
+				m_maxSuspensionTravelCm(btScalar(500.)),
+				m_frictionSlip(btScalar(10.5)),
+				m_maxSuspensionForce(btScalar(6000.))
+			{
+			}
+			btScalar	m_suspensionStiffness;
+			btScalar	m_suspensionCompression;
+			btScalar	m_suspensionDamping;
+			btScalar	m_maxSuspensionTravelCm;
+			btScalar	m_frictionSlip;
+			btScalar	m_maxSuspensionForce;
+
+		};
+private:
+
+	btScalar	m_tau;
+	btScalar	m_damping;
+	btVehicleRaycaster*	m_vehicleRaycaster;
+	btScalar		m_pitchControl;
+	btScalar	m_steeringValue; 
+	btScalar m_currentVehicleSpeedKmHour;
+
+	btRigidBody* m_chassisBody;
+
+	int m_indexRightAxis;
+	int m_indexUpAxis;
+	int	m_indexForwardAxis;
+
+	void defaultInit(const btVehicleTuning& tuning);
+
+public:
+
+	//constructor to create a car from an existing rigidbody
+	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
+
+	virtual ~btRaycastVehicle() ;
+
+
+	///btActionInterface interface
+	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+	{
+        (void) collisionWorld;
+		updateVehicle(step);
+	}
+	
+
+	///btActionInterface interface
+	void	debugDraw(btIDebugDraw* debugDrawer);
+			
+	const btTransform& getChassisWorldTransform() const;
+	
+	btScalar rayCast(btWheelInfo& wheel);
+
+	virtual void updateVehicle(btScalar step);
+	
+	
+	void resetSuspension();
+
+	btScalar	getSteeringValue(int wheel) const;
+
+	void	setSteeringValue(btScalar steering,int wheel);
+
+
+	void	applyEngineForce(btScalar force, int wheel);
+
+	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
+
+	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
+	
+//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+
+	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
+
+	inline int		getNumWheels() const {
+		return int (m_wheelInfo.size());
+	}
+	
+	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
+
+
+	const btWheelInfo&	getWheelInfo(int index) const;
+
+	btWheelInfo&	getWheelInfo(int index);
+
+	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
+
+	
+	void setBrake(btScalar brake,int wheelIndex);
+
+	void	setPitchControl(btScalar pitch)
+	{
+		m_pitchControl = pitch;
+	}
+	
+	void	updateSuspension(btScalar deltaTime);
+
+	virtual void	updateFriction(btScalar	timeStep);
+
+
+
+	inline btRigidBody* getRigidBody()
+	{
+		return m_chassisBody;
+	}
+
+	const btRigidBody* getRigidBody() const
+	{
+		return m_chassisBody;
+	}
+
+	inline int	getRightAxis() const
+	{
+		return m_indexRightAxis;
+	}
+	inline int getUpAxis() const
+	{
+		return m_indexUpAxis;
+	}
+
+	inline int getForwardAxis() const
+	{
+		return m_indexForwardAxis;
+	}
+
+	
+	///Worldspace forward vector
+	btVector3 getForwardVector() const
+	{
+		const btTransform& chassisTrans = getChassisWorldTransform(); 
+
+		btVector3 forwardW ( 
+			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
+			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
+			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
+
+		return forwardW;
+	}
+
+	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
+	btScalar	getCurrentSpeedKmHour() const
+	{
+		return m_currentVehicleSpeedKmHour;
+	}
+
+	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_indexRightAxis = rightIndex;
+		m_indexUpAxis = upIndex;
+		m_indexForwardAxis = forwardIndex;
+	}
+
+
+	///backwards compatibility
+	int getUserConstraintType() const
+	{
+		return m_userConstraintType ;
+	}
+
+	void	setUserConstraintType(int userConstraintType)
+	{
+		m_userConstraintType = userConstraintType;
+	};
+
+	void	setUserConstraintId(int uid)
+	{
+		m_userConstraintId = uid;
+	}
+
+	int getUserConstraintId() const
+	{
+		return m_userConstraintId;
+	}
+
+};
+
+class btDefaultVehicleRaycaster : public btVehicleRaycaster
+{
+	btDynamicsWorld*	m_dynamicsWorld;
+public:
+	btDefaultVehicleRaycaster(btDynamicsWorld* world)
+		:m_dynamicsWorld(world)
+	{
+	}
+
+	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
+
+};
+
+
+#endif //BT_RAYCASTVEHICLE_H
+

data/deps/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BT_VEHICLE_RAYCASTER_H
+#define BT_VEHICLE_RAYCASTER_H
+
+#include "LinearMath/btVector3.h"
+
+/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
+struct btVehicleRaycaster
+{
+virtual ~btVehicleRaycaster()
+{
+}
+	struct btVehicleRaycasterResult
+	{
+		btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
+		btVector3	m_hitPointInWorld;
+		btVector3	m_hitNormalInWorld;
+		btScalar	m_distFraction;
+	};
+
+	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
+
+};
+
+#endif //BT_VEHICLE_RAYCASTER_H
+

data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#include "btWheelInfo.h"
+#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
+
+
+btScalar btWheelInfo::getSuspensionRestLength() const
+{
+
+	return m_suspensionRestLength1;
+
+}
+
+void	btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
+{
+	(void)raycastInfo;
+
+	
+	if (m_raycastInfo.m_isInContact)
+
+	{
+		btScalar	project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
+		btVector3	 chassis_velocity_at_contactPoint;
+		btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
+		chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
+		btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
+		if ( project >= btScalar(-0.1))
+		{
+			m_suspensionRelativeVelocity = btScalar(0.0);
+			m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
+		}
+		else
+		{
+			btScalar inv = btScalar(-1.) / project;
+			m_suspensionRelativeVelocity = projVel * inv;
+			m_clippedInvContactDotSuspension = inv;
+		}
+		
+	}
+
+	else	// Not in contact : position wheel in a nice (rest length) position
+	{
+		m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
+		m_suspensionRelativeVelocity = btScalar(0.0);
+		m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
+		m_clippedInvContactDotSuspension = btScalar(1.0);
+	}
+}

data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h

@@ -0,0 +1,119 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef BT_WHEEL_INFO_H
+#define BT_WHEEL_INFO_H
+
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btTransform.h"
+
+class btRigidBody;
+
+struct btWheelInfoConstructionInfo
+{
+	btVector3	m_chassisConnectionCS;
+	btVector3	m_wheelDirectionCS;
+	btVector3	m_wheelAxleCS;
+	btScalar	m_suspensionRestLength;
+	btScalar	m_maxSuspensionTravelCm;
+	btScalar	m_wheelRadius;
+	
+	btScalar		m_suspensionStiffness;
+	btScalar		m_wheelsDampingCompression;
+	btScalar		m_wheelsDampingRelaxation;
+	btScalar		m_frictionSlip;
+	btScalar		m_maxSuspensionForce;
+	bool m_bIsFrontWheel;
+	
+};
+
+/// btWheelInfo contains information per wheel about friction and suspension.
+struct btWheelInfo
+{
+	struct RaycastInfo
+	{
+		//set by raycaster
+		btVector3	m_contactNormalWS;//contactnormal
+		btVector3	m_contactPointWS;//raycast hitpoint
+		btScalar	m_suspensionLength;
+		btVector3	m_hardPointWS;//raycast starting point
+		btVector3	m_wheelDirectionWS; //direction in worldspace
+		btVector3	m_wheelAxleWS; // axle in worldspace
+		bool		m_isInContact;
+		void*		m_groundObject; //could be general void* ptr
+	};
+
+	RaycastInfo	m_raycastInfo;
+
+	btTransform	m_worldTransform;
+	
+	btVector3	m_chassisConnectionPointCS; //const
+	btVector3	m_wheelDirectionCS;//const
+	btVector3	m_wheelAxleCS; // const or modified by steering
+	btScalar	m_suspensionRestLength1;//const
+	btScalar	m_maxSuspensionTravelCm;
+	btScalar getSuspensionRestLength() const;
+	btScalar	m_wheelsRadius;//const
+	btScalar	m_suspensionStiffness;//const
+	btScalar	m_wheelsDampingCompression;//const
+	btScalar	m_wheelsDampingRelaxation;//const
+	btScalar	m_frictionSlip;
+	btScalar	m_steering;
+	btScalar	m_rotation;
+	btScalar	m_deltaRotation;
+	btScalar	m_rollInfluence;
+	btScalar	m_maxSuspensionForce;
+
+	btScalar	m_engineForce;
+
+	btScalar	m_brake;
+	
+	bool m_bIsFrontWheel;
+	
+	void*		m_clientInfo;//can be used to store pointer to sync transforms...
+
+	btWheelInfo(btWheelInfoConstructionInfo& ci)
+
+	{
+
+		m_suspensionRestLength1 = ci.m_suspensionRestLength;
+		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
+
+		m_wheelsRadius = ci.m_wheelRadius;
+		m_suspensionStiffness = ci.m_suspensionStiffness;
+		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
+		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
+		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
+		m_wheelDirectionCS = ci.m_wheelDirectionCS;
+		m_wheelAxleCS = ci.m_wheelAxleCS;
+		m_frictionSlip = ci.m_frictionSlip;
+		m_steering = btScalar(0.);
+		m_engineForce = btScalar(0.);
+		m_rotation = btScalar(0.);
+		m_deltaRotation = btScalar(0.);
+		m_brake = btScalar(0.);
+		m_rollInfluence = btScalar(0.1);
+		m_bIsFrontWheel = ci.m_bIsFrontWheel;
+		m_maxSuspensionForce = ci.m_maxSuspensionForce;
+
+	}
+
+	void	updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
+
+	btScalar	m_clippedInvContactDotSuspension;
+	btScalar	m_suspensionRelativeVelocity;
+	//calculated by suspension
+	btScalar	m_wheelsSuspensionForce;
+	btScalar	m_skidInfo;
+
+};
+
+#endif //BT_WHEEL_INFO_H
+

data/deps/include/bullet/BulletDynamics/cmake_install.cmake

@@ -0,0 +1,29 @@
+# Install script for directory: C:/Users/abex/Documents/GitHub/ruby-bullet/deps/src/bullet-2.80-rev2531/src/BulletDynamics
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "..")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "Release")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
+IF(NOT CMAKE_INSTALL_COMPONENT)
+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+

data/deps/include/bullet/BulletDynamics/ibmsdk/Makefile

@@ -0,0 +1,53 @@
+#### Source code Dirs
+VPATH =				\
+../ConstraintSolver		\
+../Dynamics			\
+../Vehicle
+
+ROOT = ../../..
+
+#### Library
+LIBRARY_ppu = bulletdynamics.a
+
+#### Compiler flags
+CPPFLAGS        = 		\
+-DUSE_LIBSPE2			\
+-I../ConstraintSolver		\
+-I../Dynamics			\
+-I../Vehicle			\
+-I$(ROOT)/src			\
+-I$(SDKINC)
+
+#### Optimization level flags
+#CC_OPT_LEVEL =  $(CC_OPT_LEVEL_DEBUG)
+CC_OPT_LEVEL =  -O3
+
+##### Objects to be archived in lib
+
+OBJS = 					\
+btContactConstraint.o			\
+btGeneric6DofConstraint.o		\
+btHingeConstraint.o			\
+btPoint2PointConstraint.o		\
+btSequentialImpulseConstraintSolver.o	\
+btSolve2LinearConstraint.o		\
+btTypedConstraint.o			\
+btDiscreteDynamicsWorld.o		\
+btRigidBody.o				\
+btSimpleDynamicsWorld.o			\
+btRaycastVehicle.o			\
+btWheelInfo.o
+#### Install directories 
+INSTALL_DIR	=  $(ROOT)/lib/ibmsdk
+INSTALL_FILES	= $(LIBRARY_ppu)
+
+IBM_CELLSDK_VERSION := $(shell if [ -d /opt/cell ]; then echo "3.0"; fi)
+
+ifeq ("$(IBM_CELLSDK_VERSION)","3.0")
+        CELL_TOP ?= /opt/cell/sdk
+        include $(CELL_TOP)/buildutils/make.footer
+else
+        CELL_TOP ?= /opt/ibm/cell-sdk/prototype
+        include $(CELL_TOP)/make.footer
+endif
+

data/deps/include/bullet/BulletDynamics/premake4.lua

@@ -0,0 +1,11 @@
+	project "BulletDynamics"
+		
+	kind "StaticLib"
+	targetdir "../../lib"
+	includedirs {
+		"..",
+	}
+	files {
+		"**.cpp",
+		"**.h"
+	}