ruby-bullet 0.0.2-x86-mingw32

data/deps/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h

@@ -0,0 +1,153 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
+
+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_SPU_SAMPLE_TASK_PROCESS_H
+#define BT_SPU_SAMPLE_TASK_PROCESS_H
+
+#include <assert.h>
+
+
+#include "PlatformDefinitions.h"
+
+#include <stdlib.h>
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+
+#include "SpuSampleTask/SpuSampleTask.h"
+
+
+//just add your commands here, try to keep them globally unique for debugging purposes
+#define CMD_SAMPLE_TASK_COMMAND 10
+
+
+
+/// SpuSampleTaskProcess handles SPU processing of collision pairs.
+/// When PPU issues a task, it will look for completed task buffers
+/// PPU will do postprocessing, dependent on workunit output (not likely)
+class SpuSampleTaskProcess
+{
+	// track task buffers that are being used, and total busy tasks
+	btAlignedObjectArray<bool>	m_taskBusy;
+	btAlignedObjectArray<SpuSampleTaskDesc>m_spuSampleTaskDesc;
+	
+	int   m_numBusyTasks;
+
+	// the current task and the current entry to insert a new work unit
+	int   m_currentTask;
+
+	bool m_initialized;
+
+	void postProcess(int taskId, int outputSize);
+	
+	class	btThreadSupportInterface*	m_threadInterface;
+
+	int	m_maxNumOutstandingTasks;
+
+
+
+public:
+	SpuSampleTaskProcess(btThreadSupportInterface*	threadInterface, int maxNumOutstandingTasks);
+	
+	~SpuSampleTaskProcess();
+	
+	///call initialize in the beginning of the frame, before addCollisionPairToTask
+	void initialize();
+
+	void issueTask(void* sampleMainMemPtr,int sampleValue,int sampleCommand);
+
+	///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
+	void flush();
+};
+
+
+#if defined(USE_LIBSPE2) && defined(__SPU__)
+////////////////////MAIN/////////////////////////////
+#include "../SpuLibspe2Support.h"
+#include <spu_intrinsics.h>
+#include <spu_mfcio.h>
+#include <SpuFakeDma.h>
+
+void * SamplelsMemoryFunc();
+void SampleThreadFunc(void* userPtr,void* lsMemory);
+
+//#define DEBUG_LIBSPE2_MAINLOOP
+
+int main(unsigned long long speid, addr64 argp, addr64 envp)
+{
+	printf("SPU is up \n");
+	
+	ATTRIBUTE_ALIGNED128(btSpuStatus status);
+	ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
+	unsigned int received_message = Spu_Mailbox_Event_Nothing;
+        bool shutdown = false;
+
+	cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+
+	status.m_status = Spu_Status_Free;
+	status.m_lsMemory.p = SamplelsMemoryFunc();
+
+	cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+	cellDmaWaitTagStatusAll(DMA_MASK(3));
+	
+	
+	while (!shutdown)
+	{
+		received_message = spu_read_in_mbox();
+		
+
+		
+		switch(received_message)
+		{
+		case Spu_Mailbox_Event_Shutdown:
+			shutdown = true;
+			break; 
+		case Spu_Mailbox_Event_Task:
+			// refresh the status
+#ifdef DEBUG_LIBSPE2_MAINLOOP
+			printf("SPU recieved Task \n");
+#endif //DEBUG_LIBSPE2_MAINLOOP
+			cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+		
+			btAssert(status.m_status==Spu_Status_Occupied);
+			
+			cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
+			cellDmaWaitTagStatusAll(DMA_MASK(3));
+			
+			SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
+			break;
+		case Spu_Mailbox_Event_Nothing:
+		default:
+			break;
+		}
+
+		// set to status free and wait for next task
+		status.m_status = Spu_Status_Free;
+		cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
+		cellDmaWaitTagStatusAll(DMA_MASK(3));		
+				
+		
+  	}
+  	return 0;
+}
+//////////////////////////////////////////////////////
+#endif
+
+
+
+#endif // BT_SPU_SAMPLE_TASK_PROCESS_H
+

data/deps/include/bullet/BulletMultiThreaded/SpuSync.h

@@ -0,0 +1,149 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2007 Starbreeze Studios
+
+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.
+
+Written by: Marten Svanfeldt
+*/
+
+#ifndef BT_SPU_SYNC_H
+#define	BT_SPU_SYNC_H
+
+
+#include "PlatformDefinitions.h"
+
+
+#if defined(WIN32)
+
+#define WIN32_LEAN_AND_MEAN
+#ifdef _XBOX
+#include <Xtl.h>
+#else
+#include <Windows.h>
+#endif
+
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
+class btSpinlock
+{
+public:
+	//typedef volatile LONG SpinVariable;
+	typedef CRITICAL_SECTION SpinVariable;
+
+	btSpinlock (SpinVariable* var)
+		: spinVariable (var)
+	{}
+
+	void Init ()
+	{
+		//*spinVariable = 0;
+		InitializeCriticalSection(spinVariable);
+	}
+
+	void Lock ()
+	{
+		EnterCriticalSection(spinVariable);
+	}
+
+	void Unlock ()
+	{
+		LeaveCriticalSection(spinVariable);
+	}
+
+private:
+	SpinVariable* spinVariable;
+};
+
+
+#elif defined (__CELLOS_LV2__)
+
+//#include <cell/atomic.h>
+#include <cell/sync/mutex.h>
+
+///The btSpinlock is a structure to allow multi-platform synchronization. This allows to port the SPU tasks to other platforms.
+class btSpinlock
+{
+public:
+	typedef CellSyncMutex SpinVariable;
+
+	btSpinlock (SpinVariable* var)
+		: spinVariable (var)
+	{}
+
+	void Init ()
+	{
+#ifndef __SPU__
+		//*spinVariable = 1;
+		cellSyncMutexInitialize(spinVariable);
+#endif
+	}
+
+
+
+	void Lock ()
+	{
+#ifdef __SPU__
+		// lock semaphore
+		/*while (cellAtomicTestAndDecr32(atomic_buf, (uint64_t)spinVariable) == 0) 
+		{
+
+		};*/
+		cellSyncMutexLock((uint64_t)spinVariable);
+#endif
+	}
+
+	void Unlock ()
+	{
+#ifdef __SPU__
+		//cellAtomicIncr32(atomic_buf, (uint64_t)spinVariable);
+		cellSyncMutexUnlock((uint64_t)spinVariable);
+#endif 
+	}
+
+
+private:
+	SpinVariable*	spinVariable;
+	ATTRIBUTE_ALIGNED128(uint32_t		atomic_buf[32]);
+};
+
+#else
+//create a dummy implementation (without any locking) useful for serial processing
+class btSpinlock
+{
+public:
+	typedef int  SpinVariable;
+
+	btSpinlock (SpinVariable* var)
+		: spinVariable (var)
+	{}
+
+	void Init ()
+	{
+	}
+
+	void Lock ()
+	{
+	}
+
+	void Unlock ()
+	{
+	}
+
+private:
+	SpinVariable* spinVariable;
+};
+
+
+#endif
+
+
+#endif //BT_SPU_SYNC_H
+

data/deps/include/bullet/BulletMultiThreaded/TrbDynBody.h

@@ -0,0 +1,79 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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_RB_DYN_BODY_H__
+#define BT_RB_DYN_BODY_H__
+
+#include "vectormath/vmInclude.h"
+using namespace Vectormath::Aos;
+
+#include "TrbStateVec.h"
+
+class CollObject;
+
+class TrbDynBody
+{
+public:
+	TrbDynBody()
+	{
+		fMass   = 0.0f;
+		fCollObject = NULL;
+		fElasticity = 0.2f;
+		fFriction = 0.8f;
+	}
+
+	// Get methods
+	float          getMass() const {return fMass;};
+	float          getElasticity() const {return fElasticity;}
+	float          getFriction() const {return fFriction;}
+	CollObject*    getCollObject() const {return fCollObject;}
+	const Matrix3 &getBodyInertia() const {return fIBody;}
+	const Matrix3 &getBodyInertiaInv() const {return fIBodyInv;}
+	float          getMassInv() const {return fMassInv;}
+
+	// Set methods
+	void           setMass(float mass) {fMass=mass;fMassInv=mass>0.0f?1.0f/mass:0.0f;}
+	void           setBodyInertia(const Matrix3 bodyInertia) {fIBody = bodyInertia;fIBodyInv = inverse(bodyInertia);}
+	void           setElasticity(float elasticity) {fElasticity = elasticity;}
+	void           setFriction(float friction) {fFriction = friction;}
+	void           setCollObject(CollObject *collObj) {fCollObject = collObj;}
+	
+	void           setBodyInertiaInv(const Matrix3 bodyInertiaInv) 
+	{
+		fIBody = inverse(bodyInertiaInv);
+		fIBodyInv = bodyInertiaInv;
+	}
+	void           setMassInv(float invMass) {
+		fMass= invMass>0.0f ? 1.0f/invMass :0.0f;
+		fMassInv=invMass;
+	}
+
+
+private:
+	// Rigid Body constants
+	float          fMass;        // Rigid Body mass
+	float          fMassInv;     // Inverse of mass
+	Matrix3        fIBody;       // Inertia matrix in body's coords
+	Matrix3        fIBodyInv;    // Inertia matrix inverse in body's coords
+	float          fElasticity;  // Coefficient of restitution
+	float          fFriction;    // Coefficient of friction
+
+public:
+	CollObject*    fCollObject;  // Collision object corresponding the RB
+} __attribute__ ((aligned(16)));
+
+#endif //BT_RB_DYN_BODY_H__
+

data/deps/include/bullet/BulletMultiThreaded/TrbStateVec.h

@@ -0,0 +1,339 @@
+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+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_TRBSTATEVEC_H__
+#define BT_TRBSTATEVEC_H__
+
+#include <stdlib.h>
+#ifdef PFX_USE_FREE_VECTORMATH
+#include "vecmath/vmInclude.h"
+#else
+#include "vectormath/vmInclude.h"
+#endif //PFX_USE_FREE_VECTORMATH
+
+
+#include "PlatformDefinitions.h"
+
+
+static inline vmVector3 read_Vector3(const float* p)
+{
+	vmVector3 v;
+	loadXYZ(v, p);
+	return v;
+}
+
+static inline vmQuat read_Quat(const float* p)
+{
+	vmQuat vq;
+	loadXYZW(vq, p);
+	return vq;
+}
+
+static inline void store_Vector3(const vmVector3 &src, float* p)
+{
+	vmVector3 v = src;
+	storeXYZ(v, p);
+}
+
+static inline void store_Quat(const vmQuat &src, float* p)
+{
+	vmQuat vq = src;
+	storeXYZW(vq, p);
+}
+
+// Motion Type
+enum {
+	PfxMotionTypeFixed = 0,
+	PfxMotionTypeActive,
+	PfxMotionTypeKeyframe,
+	PfxMotionTypeOneWay,
+	PfxMotionTypeTrigger,
+	PfxMotionTypeCount
+};
+
+#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay
+#define PFX_MOTION_MASK_STATIC  0x95 // Fixed,Keyframe,Trigger,Sleeping
+#define PFX_MOTION_MASK_SLEEP   0x0e // Can sleep
+#define PFX_MOTION_MASK_TYPE    0x7f
+
+//
+// Rigid Body state
+//
+
+#ifdef __CELLOS_LV2__
+ATTRIBUTE_ALIGNED128(class) TrbState
+#else
+ATTRIBUTE_ALIGNED16(class) TrbState
+#endif
+
+{
+public:
+	TrbState()
+	{
+		setMotionType(PfxMotionTypeActive);
+		contactFilterSelf=contactFilterTarget=0xffffffff;
+		deleted = 0;
+		mSleeping = 0;
+		useSleep = 1;
+		trbBodyIdx=0;
+		mSleepCount=0;
+		useCcd = 0;
+		useContactCallback = 0;
+		useSleepCallback = 0;
+		linearDamping = 1.0f;
+		angularDamping = 0.99f;
+	}
+
+	TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega );
+	
+	uint16_t	mSleepCount;
+	uint8_t		mMotionType;
+	uint8_t		deleted            : 1;
+	uint8_t		mSleeping           : 1;
+	uint8_t		useSleep           : 1;
+	uint8_t		useCcd		       : 1;
+	uint8_t		useContactCallback : 1;
+	uint8_t		useSleepCallback   : 1;
+
+	uint16_t	trbBodyIdx;
+	uint32_t	contactFilterSelf;
+	uint32_t	contactFilterTarget;
+
+	float		center[3];		// AABB center(World)
+	float		half[3];		// AABB half(World)
+
+	float		linearDamping;
+	float		angularDamping;
+	
+	float		deltaLinearVelocity[3];
+	float		deltaAngularVelocity[3];
+
+	float     fX[3];				// position
+	float     fQ[4];				// orientation
+	float     fV[3];				// velocity
+	float     fOmega[3];			// angular velocity
+
+	inline void setZero();      // Zeroes out the elements
+	inline void setIdentity();  // Sets the rotation to identity and zeroes out the other elements
+
+	bool		isDeleted() const {return deleted==1;}
+
+	uint16_t	getRigidBodyId() const {return trbBodyIdx;}
+	void		setRigidBodyId(uint16_t i) {trbBodyIdx = i;}
+
+
+	uint32_t	getContactFilterSelf() const {return contactFilterSelf;}
+	void		setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;}
+
+	uint32_t	getContactFilterTarget() const {return contactFilterTarget;}
+	void		setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;}
+
+	float getLinearDamping() const {return linearDamping;}
+	float getAngularDamping() const {return angularDamping;}
+
+	void setLinearDamping(float damping) {linearDamping=damping;}
+	void setAngularDamping(float damping) {angularDamping=damping;}
+
+
+	uint8_t		getMotionType() const {return mMotionType;}
+	void		setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;}
+
+	uint8_t		getMotionMask() const {return (1<<mMotionType)|(mSleeping<<7);}
+
+	bool		isAsleep() const {return mSleeping==1;}
+	bool		isAwake() const {return mSleeping==0;}
+
+	void		wakeup() {mSleeping=0;mSleepCount=0;}
+	void		sleep() {if(useSleep) {mSleeping=1;mSleepCount=0;}}
+
+	uint8_t		getUseSleep() const {return useSleep;}
+	void		setUseSleep(uint8_t b) {useSleep=b;}
+
+	uint8_t		getUseCcd() const {return useCcd;}
+	void		setUseCcd(uint8_t b) {useCcd=b;}
+
+	uint8_t		getUseContactCallback() const {return useContactCallback;}
+	void		setUseContactCallback(uint8_t b) {useContactCallback=b;}
+
+	uint8_t		getUseSleepCallback() const {return useSleepCallback;}
+	void		setUseSleepCallback(uint8_t b) {useSleepCallback=b;}
+
+	void	 	incrementSleepCount() {mSleepCount++;}
+	void		resetSleepCount() {mSleepCount=0;}
+	uint16_t	getSleepCount() const {return mSleepCount;}
+
+	vmVector3 getPosition() const {return read_Vector3(fX);}
+	vmQuat    getOrientation() const {return read_Quat(fQ);}
+	vmVector3 getLinearVelocity() const {return read_Vector3(fV);}
+	vmVector3 getAngularVelocity() const {return read_Vector3(fOmega);}
+	vmVector3 getDeltaLinearVelocity() const {return read_Vector3(deltaLinearVelocity);}
+	vmVector3 getDeltaAngularVelocity() const {return read_Vector3(deltaAngularVelocity);}
+
+	void setPosition(const vmVector3 &pos) {store_Vector3(pos, fX);}
+	void setLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, fV);}
+	void setAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, fOmega);}
+	void setDeltaLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaLinearVelocity);}
+	void setDeltaAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaAngularVelocity);}
+	void setOrientation(const vmQuat &rot) {store_Quat(rot, fQ);}
+
+	inline void setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal);
+	inline void	setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep);
+	inline	void reset();
+};
+
+inline
+TrbState::TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega)
+{
+	setMotionType(m);
+	fX[0] = x[0];
+	fX[1] = x[1];
+	fX[2] = x[2];
+	fQ[0] = q[0];
+	fQ[1] = q[1];
+	fQ[2] = q[2];
+	fQ[3] = q[3];
+	fV[0] = v[0];
+	fV[1] = v[1];
+	fV[2] = v[2];
+	fOmega[0] = omega[0];
+	fOmega[1] = omega[1];
+	fOmega[2] = omega[2];
+	contactFilterSelf=contactFilterTarget=0xffff;
+	trbBodyIdx=0;
+	mSleeping = 0;
+	deleted = 0;
+	useSleep = 1;
+	useCcd = 0;
+	useContactCallback = 0;
+	useSleepCallback = 0;
+	mSleepCount=0;
+	linearDamping = 1.0f;
+	angularDamping = 0.99f;
+}
+
+inline void
+TrbState::setIdentity()
+{
+	fX[0] = 0.0f;
+	fX[1] = 0.0f;
+	fX[2] = 0.0f;
+	fQ[0] = 0.0f;
+	fQ[1] = 0.0f;
+	fQ[2] = 0.0f;
+	fQ[3] = 1.0f;
+	fV[0] = 0.0f;
+	fV[1] = 0.0f;
+	fV[2] = 0.0f;
+	fOmega[0] = 0.0f;
+	fOmega[1] = 0.0f;
+	fOmega[2] = 0.0f;
+}
+
+inline void
+TrbState::setZero()
+{
+	fX[0] = 0.0f;
+	fX[1] = 0.0f;
+	fX[2] = 0.0f;
+	fQ[0] = 0.0f;
+	fQ[1] = 0.0f;
+	fQ[2] = 0.0f;
+	fQ[3] = 0.0f;
+	fV[0] = 0.0f;
+	fV[1] = 0.0f;
+	fV[2] = 0.0f;
+	fOmega[0] = 0.0f;
+	fOmega[1] = 0.0f;
+	fOmega[2] = 0.0f;
+}
+
+inline void
+TrbState::setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal)
+{
+	vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
+	vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
+	center[0] = centerW[0];
+	center[1] = centerW[1];
+	center[2] = centerW[2];
+	half[0] = halfW[0];
+	half[1] = halfW[1];
+	half[2] = halfW[2];
+}
+
+inline void
+TrbState::setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep)
+{
+	vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
+	vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
+
+	vmVector3 diffvec = getLinearVelocity()*timeStep;
+
+	vmVector3 newCenter = centerW + diffvec;
+	vmVector3 aabbMin = minPerElem(newCenter - halfW,centerW - halfW);
+	vmVector3 aabbMax = maxPerElem(newCenter + halfW,centerW + halfW);
+	
+	centerW = 0.5f * (aabbMin + aabbMax);
+	halfW =0.5f * (aabbMax - aabbMin);
+
+	center[0] = centerW[0];
+	center[1] = centerW[1];
+	center[2] = centerW[2];
+
+	half[0] = halfW[0];
+	half[1] = halfW[1];
+	half[2] = halfW[2];
+}
+
+inline
+void TrbState::reset()
+{
+#if 0
+	mSleepCount = 0;
+	mMotionType = PfxMotionTypeActive;
+	mDeleted = 0;
+	mSleeping = 0;
+	mUseSleep = 1;
+	mUseCcd = 0;
+	mUseContactCallback = 0;
+	mUseSleepCallback = 0;
+	mRigidBodyId = 0;
+	mContactFilterSelf = 0xffffffff;
+	mContactFilterTarget = 0xffffffff;
+	mLinearDamping = 1.0f;
+	mAngularDamping = 0.99f;
+	mPosition = vmVector3(0.0f);
+	mOrientation = vmQuat::identity();
+	mLinearVelocity = vmVector3(0.0f);
+	mAngularVelocity = vmVector3(0.0f);
+#endif
+
+	setMotionType(PfxMotionTypeActive);
+	contactFilterSelf=contactFilterTarget=0xffffffff;
+	deleted = 0;
+	mSleeping = 0;
+	useSleep = 1;
+	trbBodyIdx=0;
+	mSleepCount=0;
+	useCcd = 0;
+	useContactCallback = 0;
+	useSleepCallback = 0;
+	linearDamping = 1.0f;
+	angularDamping = 0.99f;
+}
+
+#endif //BT_TRBSTATEVEC_H__
+
+