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 +1,138 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3
+ Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
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
+
18
+ #ifndef BTGPU3DGRIDBROADPHASE_H
19
+ #define BTGPU3DGRIDBROADPHASE_H
20
+
21
+ //----------------------------------------------------------------------------------------
22
+
23
+ #include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
24
+
25
+ #include "btGpu3DGridBroadphaseSharedTypes.h"
26
+
27
+ //----------------------------------------------------------------------------------------
28
+
29
+ ///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
30
+
31
+ class btGpu3DGridBroadphase : public btSimpleBroadphase
32
+ {
33
+ protected:
34
+ bool m_bInitialized;
35
+ unsigned int m_numBodies;
36
+ unsigned int m_numCells;
37
+ unsigned int m_maxPairsPerBody;
38
+ btScalar m_cellFactorAABB;
39
+ unsigned int m_maxBodiesPerCell;
40
+ bt3DGridBroadphaseParams m_params;
41
+ btScalar m_maxRadius;
42
+ // CPU data
43
+ unsigned int* m_hBodiesHash;
44
+ unsigned int* m_hCellStart;
45
+ unsigned int* m_hPairBuffStartCurr;
46
+ bt3DGrid3F1U* m_hAABB;
47
+ unsigned int* m_hPairBuff;
48
+ unsigned int* m_hPairScan;
49
+ unsigned int* m_hPairOut;
50
+ // large proxies
51
+ int m_numLargeHandles;
52
+ int m_maxLargeHandles;
53
+ int m_LastLargeHandleIndex;
54
+ btSimpleBroadphaseProxy* m_pLargeHandles;
55
+ void* m_pLargeHandlesRawPtr;
56
+ int m_firstFreeLargeHandle;
57
+ int allocLargeHandle()
58
+ {
59
+ btAssert(m_numLargeHandles < m_maxLargeHandles);
60
+ int freeLargeHandle = m_firstFreeLargeHandle;
61
+ m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
62
+ m_numLargeHandles++;
63
+ if(freeLargeHandle > m_LastLargeHandleIndex)
64
+ {
65
+ m_LastLargeHandleIndex = freeLargeHandle;
66
+ }
67
+ return freeLargeHandle;
68
+ }
69
+ void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
70
+ {
71
+ int handle = int(proxy - m_pLargeHandles);
72
+ btAssert((handle >= 0) && (handle < m_maxHandles));
73
+ if(handle == m_LastLargeHandleIndex)
74
+ {
75
+ m_LastLargeHandleIndex--;
76
+ }
77
+ proxy->SetNextFree(m_firstFreeLargeHandle);
78
+ m_firstFreeLargeHandle = handle;
79
+ proxy->m_clientObject = 0;
80
+ m_numLargeHandles--;
81
+ }
82
+ bool isLargeProxy(const btVector3& aabbMin, const btVector3& aabbMax);
83
+ bool isLargeProxy(btBroadphaseProxy* proxy);
84
+ // debug
85
+ unsigned int m_numPairsAdded;
86
+ unsigned int m_numPairsRemoved;
87
+ unsigned int m_numOverflows;
88
+ //
89
+ public:
90
+ btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax,
91
+ int gridSizeX, int gridSizeY, int gridSizeZ,
92
+ int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
93
+ int maxBodiesPerCell = 8,
94
+ btScalar cellFactorAABB = btScalar(1.0f));
95
+ btGpu3DGridBroadphase( btOverlappingPairCache* overlappingPairCache,
96
+ const btVector3& worldAabbMin,const btVector3& worldAabbMax,
97
+ int gridSizeX, int gridSizeY, int gridSizeZ,
98
+ int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
99
+ int maxBodiesPerCell = 8,
100
+ btScalar cellFactorAABB = btScalar(1.0f));
101
+ virtual ~btGpu3DGridBroadphase();
102
+ virtual void calculateOverlappingPairs(btDispatcher* dispatcher);
103
+
104
+ virtual btBroadphaseProxy* createProxy(const btVector3& aabbMin, const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
105
+ virtual void destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
106
+ virtual void rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
107
+ virtual void resetPool(btDispatcher* dispatcher);
108
+
109
+ protected:
110
+ void _initialize( const btVector3& worldAabbMin,const btVector3& worldAabbMax,
111
+ int gridSizeX, int gridSizeY, int gridSizeZ,
112
+ int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
113
+ int maxBodiesPerCell = 8,
114
+ btScalar cellFactorAABB = btScalar(1.0f));
115
+ void _finalize();
116
+ void addPairsToCache(btDispatcher* dispatcher);
117
+ void addLarge2LargePairsToCache(btDispatcher* dispatcher);
118
+
119
+ // overrides for CPU version
120
+ virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
121
+ virtual void prepareAABB();
122
+ virtual void calcHashAABB();
123
+ virtual void sortHash();
124
+ virtual void findCellStart();
125
+ virtual void findOverlappingPairs();
126
+ virtual void findPairsLarge();
127
+ virtual void computePairCacheChanges();
128
+ virtual void scanOverlappingPairBuff();
129
+ virtual void squeezeOverlappingPairBuff();
130
+ };
131
+
132
+ //----------------------------------------------------------------------------------------
133
+
134
+ #endif //BTGPU3DGRIDBROADPHASE_H
135
+
136
+ //----------------------------------------------------------------------------------------
137
+ //----------------------------------------------------------------------------------------
138
+ //----------------------------------------------------------------------------------------
@@ -0,0 +1,430 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3
+ Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
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
+
18
+ //----------------------------------------------------------------------------------------
19
+ //----------------------------------------------------------------------------------------
20
+ //----------------------------------------------------------------------------------------
21
+ //----------------------------------------------------------------------------------------
22
+ // K E R N E L F U N C T I O N S
23
+ //----------------------------------------------------------------------------------------
24
+ //----------------------------------------------------------------------------------------
25
+ //----------------------------------------------------------------------------------------
26
+ //----------------------------------------------------------------------------------------
27
+ //----------------------------------------------------------------------------------------
28
+ //----------------------------------------------------------------------------------------
29
+
30
+ // calculate position in uniform grid
31
+ BT_GPU___device__ int3 bt3DGrid_calcGridPos(float4 p)
32
+ {
33
+ int3 gridPos;
34
+ gridPos.x = (int)floor((p.x - BT_GPU_params.m_worldOriginX) / BT_GPU_params.m_cellSizeX);
35
+ gridPos.y = (int)floor((p.y - BT_GPU_params.m_worldOriginY) / BT_GPU_params.m_cellSizeY);
36
+ gridPos.z = (int)floor((p.z - BT_GPU_params.m_worldOriginZ) / BT_GPU_params.m_cellSizeZ);
37
+ return gridPos;
38
+ } // bt3DGrid_calcGridPos()
39
+
40
+ //----------------------------------------------------------------------------------------
41
+
42
+ // calculate address in grid from position (clamping to edges)
43
+ BT_GPU___device__ uint bt3DGrid_calcGridHash(int3 gridPos)
44
+ {
45
+ gridPos.x = BT_GPU_max(0, BT_GPU_min(gridPos.x, (int)BT_GPU_params.m_gridSizeX - 1));
46
+ gridPos.y = BT_GPU_max(0, BT_GPU_min(gridPos.y, (int)BT_GPU_params.m_gridSizeY - 1));
47
+ gridPos.z = BT_GPU_max(0, BT_GPU_min(gridPos.z, (int)BT_GPU_params.m_gridSizeZ - 1));
48
+ return BT_GPU___mul24(BT_GPU___mul24(gridPos.z, BT_GPU_params.m_gridSizeY), BT_GPU_params.m_gridSizeX) + BT_GPU___mul24(gridPos.y, BT_GPU_params.m_gridSizeX) + gridPos.x;
49
+ } // bt3DGrid_calcGridHash()
50
+
51
+ //----------------------------------------------------------------------------------------
52
+
53
+ // calculate grid hash value for each body using its AABB
54
+ BT_GPU___global__ void calcHashAABBD(bt3DGrid3F1U* pAABB, uint2* pHash, uint numBodies)
55
+ {
56
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
57
+ if(index >= (int)numBodies)
58
+ {
59
+ return;
60
+ }
61
+ bt3DGrid3F1U bbMin = pAABB[index*2];
62
+ bt3DGrid3F1U bbMax = pAABB[index*2 + 1];
63
+ float4 pos;
64
+ pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
65
+ pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
66
+ pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
67
+ // get address in grid
68
+ int3 gridPos = bt3DGrid_calcGridPos(pos);
69
+ uint gridHash = bt3DGrid_calcGridHash(gridPos);
70
+ // store grid hash and body index
71
+ pHash[index] = BT_GPU_make_uint2(gridHash, index);
72
+ } // calcHashAABBD()
73
+
74
+ //----------------------------------------------------------------------------------------
75
+
76
+ BT_GPU___global__ void findCellStartD(uint2* pHash, uint* cellStart, uint numBodies)
77
+ {
78
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
79
+ if(index >= (int)numBodies)
80
+ {
81
+ return;
82
+ }
83
+ uint2 sortedData = pHash[index];
84
+ // Load hash data into shared memory so that we can look
85
+ // at neighboring body's hash value without loading
86
+ // two hash values per thread
87
+ BT_GPU___shared__ uint sharedHash[257];
88
+ sharedHash[BT_GPU_threadIdx.x+1] = sortedData.x;
89
+ if((index > 0) && (BT_GPU_threadIdx.x == 0))
90
+ {
91
+ // first thread in block must load neighbor body hash
92
+ volatile uint2 prevData = pHash[index-1];
93
+ sharedHash[0] = prevData.x;
94
+ }
95
+ BT_GPU___syncthreads();
96
+ if((index == 0) || (sortedData.x != sharedHash[BT_GPU_threadIdx.x]))
97
+ {
98
+ cellStart[sortedData.x] = index;
99
+ }
100
+ } // findCellStartD()
101
+
102
+ //----------------------------------------------------------------------------------------
103
+
104
+ BT_GPU___device__ uint cudaTestAABBOverlap(bt3DGrid3F1U min0, bt3DGrid3F1U max0, bt3DGrid3F1U min1, bt3DGrid3F1U max1)
105
+ {
106
+ return (min0.fx <= max1.fx)&& (min1.fx <= max0.fx) &&
107
+ (min0.fy <= max1.fy)&& (min1.fy <= max0.fy) &&
108
+ (min0.fz <= max1.fz)&& (min1.fz <= max0.fz);
109
+ } // cudaTestAABBOverlap()
110
+
111
+ //----------------------------------------------------------------------------------------
112
+
113
+ BT_GPU___device__ void findPairsInCell( int3 gridPos,
114
+ uint index,
115
+ uint2* pHash,
116
+ uint* pCellStart,
117
+ bt3DGrid3F1U* pAABB,
118
+ uint* pPairBuff,
119
+ uint2* pPairBuffStartCurr,
120
+ uint numBodies)
121
+ {
122
+ if ( (gridPos.x < 0) || (gridPos.x > (int)BT_GPU_params.m_gridSizeX - 1)
123
+ || (gridPos.y < 0) || (gridPos.y > (int)BT_GPU_params.m_gridSizeY - 1)
124
+ || (gridPos.z < 0) || (gridPos.z > (int)BT_GPU_params.m_gridSizeZ - 1))
125
+ {
126
+ return;
127
+ }
128
+ uint gridHash = bt3DGrid_calcGridHash(gridPos);
129
+ // get start of bucket for this cell
130
+ uint bucketStart = pCellStart[gridHash];
131
+ if (bucketStart == 0xffffffff)
132
+ {
133
+ return; // cell empty
134
+ }
135
+ // iterate over bodies in this cell
136
+ uint2 sortedData = pHash[index];
137
+ uint unsorted_indx = sortedData.y;
138
+ bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
139
+ bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
140
+ uint handleIndex = min0.uw;
141
+ uint2 start_curr = pPairBuffStartCurr[handleIndex];
142
+ uint start = start_curr.x;
143
+ uint curr = start_curr.y;
144
+ uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
145
+ uint curr_max = start_curr_next.x - start - 1;
146
+ uint bucketEnd = bucketStart + BT_GPU_params.m_maxBodiesPerCell;
147
+ bucketEnd = (bucketEnd > numBodies) ? numBodies : bucketEnd;
148
+ for(uint index2 = bucketStart; index2 < bucketEnd; index2++)
149
+ {
150
+ uint2 cellData = pHash[index2];
151
+ if (cellData.x != gridHash)
152
+ {
153
+ break; // no longer in same bucket
154
+ }
155
+ uint unsorted_indx2 = cellData.y;
156
+ if (unsorted_indx2 < unsorted_indx) // check not colliding with self
157
+ {
158
+ bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2);
159
+ bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, unsorted_indx2*2 + 1);
160
+ if(cudaTestAABBOverlap(min0, max0, min1, max1))
161
+ {
162
+ uint handleIndex2 = min1.uw;
163
+ uint k;
164
+ for(k = 0; k < curr; k++)
165
+ {
166
+ uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
167
+ if(old_pair == handleIndex2)
168
+ {
169
+ pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
170
+ break;
171
+ }
172
+ }
173
+ if(k == curr)
174
+ {
175
+ if(curr >= curr_max)
176
+ { // not a good solution, but let's avoid crash
177
+ break;
178
+ }
179
+ pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
180
+ curr++;
181
+ }
182
+ }
183
+ }
184
+ }
185
+ pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
186
+ return;
187
+ } // findPairsInCell()
188
+
189
+ //----------------------------------------------------------------------------------------
190
+
191
+ BT_GPU___global__ void findOverlappingPairsD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart,
192
+ uint* pPairBuff, uint2* pPairBuffStartCurr, uint numBodies)
193
+ {
194
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
195
+ if(index >= (int)numBodies)
196
+ {
197
+ return;
198
+ }
199
+ uint2 sortedData = pHash[index];
200
+ uint unsorted_indx = sortedData.y;
201
+ bt3DGrid3F1U bbMin = BT_GPU_FETCH(pAABB, unsorted_indx*2);
202
+ bt3DGrid3F1U bbMax = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
203
+ float4 pos;
204
+ pos.x = (bbMin.fx + bbMax.fx) * 0.5f;
205
+ pos.y = (bbMin.fy + bbMax.fy) * 0.5f;
206
+ pos.z = (bbMin.fz + bbMax.fz) * 0.5f;
207
+ // get address in grid
208
+ int3 gridPos = bt3DGrid_calcGridPos(pos);
209
+ // examine only neighbouring cells
210
+ for(int z=-1; z<=1; z++) {
211
+ for(int y=-1; y<=1; y++) {
212
+ for(int x=-1; x<=1; x++) {
213
+ findPairsInCell(gridPos + BT_GPU_make_int3(x, y, z), index, pHash, pCellStart, pAABB, pPairBuff, pPairBuffStartCurr, numBodies);
214
+ }
215
+ }
216
+ }
217
+ } // findOverlappingPairsD()
218
+
219
+ //----------------------------------------------------------------------------------------
220
+
221
+ BT_GPU___global__ void findPairsLargeD( bt3DGrid3F1U* pAABB, uint2* pHash, uint* pCellStart, uint* pPairBuff,
222
+ uint2* pPairBuffStartCurr, uint numBodies, uint numLarge)
223
+ {
224
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
225
+ if(index >= (int)numBodies)
226
+ {
227
+ return;
228
+ }
229
+ uint2 sortedData = pHash[index];
230
+ uint unsorted_indx = sortedData.y;
231
+ bt3DGrid3F1U min0 = BT_GPU_FETCH(pAABB, unsorted_indx*2);
232
+ bt3DGrid3F1U max0 = BT_GPU_FETCH(pAABB, unsorted_indx*2 + 1);
233
+ uint handleIndex = min0.uw;
234
+ uint2 start_curr = pPairBuffStartCurr[handleIndex];
235
+ uint start = start_curr.x;
236
+ uint curr = start_curr.y;
237
+ uint2 start_curr_next = pPairBuffStartCurr[handleIndex+1];
238
+ uint curr_max = start_curr_next.x - start - 1;
239
+ for(uint i = 0; i < numLarge; i++)
240
+ {
241
+ uint indx2 = numBodies + i;
242
+ bt3DGrid3F1U min1 = BT_GPU_FETCH(pAABB, indx2*2);
243
+ bt3DGrid3F1U max1 = BT_GPU_FETCH(pAABB, indx2*2 + 1);
244
+ if(cudaTestAABBOverlap(min0, max0, min1, max1))
245
+ {
246
+ uint k;
247
+ uint handleIndex2 = min1.uw;
248
+ for(k = 0; k < curr; k++)
249
+ {
250
+ uint old_pair = pPairBuff[start+k] & (~BT_3DGRID_PAIR_ANY_FLG);
251
+ if(old_pair == handleIndex2)
252
+ {
253
+ pPairBuff[start+k] |= BT_3DGRID_PAIR_FOUND_FLG;
254
+ break;
255
+ }
256
+ }
257
+ if(k == curr)
258
+ {
259
+ pPairBuff[start+curr] = handleIndex2 | BT_3DGRID_PAIR_NEW_FLG;
260
+ if(curr >= curr_max)
261
+ { // not a good solution, but let's avoid crash
262
+ break;
263
+ }
264
+ curr++;
265
+ }
266
+ }
267
+ }
268
+ pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, curr);
269
+ return;
270
+ } // findPairsLargeD()
271
+
272
+ //----------------------------------------------------------------------------------------
273
+
274
+ BT_GPU___global__ void computePairCacheChangesD(uint* pPairBuff, uint2* pPairBuffStartCurr,
275
+ uint* pPairScan, bt3DGrid3F1U* pAABB, uint numBodies)
276
+ {
277
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
278
+ if(index >= (int)numBodies)
279
+ {
280
+ return;
281
+ }
282
+ bt3DGrid3F1U bbMin = pAABB[index * 2];
283
+ uint handleIndex = bbMin.uw;
284
+ uint2 start_curr = pPairBuffStartCurr[handleIndex];
285
+ uint start = start_curr.x;
286
+ uint curr = start_curr.y;
287
+ uint *pInp = pPairBuff + start;
288
+ uint num_changes = 0;
289
+ for(uint k = 0; k < curr; k++, pInp++)
290
+ {
291
+ if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
292
+ {
293
+ num_changes++;
294
+ }
295
+ }
296
+ pPairScan[index+1] = num_changes;
297
+ } // computePairCacheChangesD()
298
+
299
+ //----------------------------------------------------------------------------------------
300
+
301
+ BT_GPU___global__ void squeezeOverlappingPairBuffD(uint* pPairBuff, uint2* pPairBuffStartCurr, uint* pPairScan,
302
+ uint* pPairOut, bt3DGrid3F1U* pAABB, uint numBodies)
303
+ {
304
+ int index = BT_GPU___mul24(BT_GPU_blockIdx.x, BT_GPU_blockDim.x) + BT_GPU_threadIdx.x;
305
+ if(index >= (int)numBodies)
306
+ {
307
+ return;
308
+ }
309
+ bt3DGrid3F1U bbMin = pAABB[index * 2];
310
+ uint handleIndex = bbMin.uw;
311
+ uint2 start_curr = pPairBuffStartCurr[handleIndex];
312
+ uint start = start_curr.x;
313
+ uint curr = start_curr.y;
314
+ uint* pInp = pPairBuff + start;
315
+ uint* pOut = pPairOut + pPairScan[index];
316
+ uint* pOut2 = pInp;
317
+ uint num = 0;
318
+ for(uint k = 0; k < curr; k++, pInp++)
319
+ {
320
+ if(!((*pInp) & BT_3DGRID_PAIR_FOUND_FLG))
321
+ {
322
+ *pOut = *pInp;
323
+ pOut++;
324
+ }
325
+ if((*pInp) & BT_3DGRID_PAIR_ANY_FLG)
326
+ {
327
+ *pOut2 = (*pInp) & (~BT_3DGRID_PAIR_ANY_FLG);
328
+ pOut2++;
329
+ num++;
330
+ }
331
+ }
332
+ pPairBuffStartCurr[handleIndex] = BT_GPU_make_uint2(start, num);
333
+ } // squeezeOverlappingPairBuffD()
334
+
335
+
336
+ //----------------------------------------------------------------------------------------
337
+ //----------------------------------------------------------------------------------------
338
+ //----------------------------------------------------------------------------------------
339
+ //----------------------------------------------------------------------------------------
340
+ // E N D O F K E R N E L F U N C T I O N S
341
+ //----------------------------------------------------------------------------------------
342
+ //----------------------------------------------------------------------------------------
343
+ //----------------------------------------------------------------------------------------
344
+ //----------------------------------------------------------------------------------------
345
+
346
+ extern "C"
347
+ {
348
+
349
+ //----------------------------------------------------------------------------------------
350
+
351
+ void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies)
352
+ {
353
+ int numThreads, numBlocks;
354
+ BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
355
+ // execute the kernel
356
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, calcHashAABBD, (pAABB, (uint2*)hash, numBodies));
357
+ // check if kernel invocation generated an error
358
+ BT_GPU_CHECK_ERROR("calcHashAABBD kernel execution failed");
359
+ } // calcHashAABB()
360
+
361
+ //----------------------------------------------------------------------------------------
362
+
363
+ void BT_GPU_PREF(findCellStart(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells))
364
+ {
365
+ int numThreads, numBlocks;
366
+ BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
367
+ BT_GPU_SAFE_CALL(BT_GPU_Memset(cellStart, 0xffffffff, numCells*sizeof(uint)));
368
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, findCellStartD, ((uint2*)hash, (uint*)cellStart, numBodies));
369
+ BT_GPU_CHECK_ERROR("Kernel execution failed: findCellStartD");
370
+ } // findCellStart()
371
+
372
+ //----------------------------------------------------------------------------------------
373
+
374
+ void BT_GPU_PREF(findOverlappingPairs(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies))
375
+ {
376
+ #if B_CUDA_USE_TEX
377
+ BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, numBodies * 2 * sizeof(bt3DGrid3F1U)));
378
+ #endif
379
+ int numThreads, numBlocks;
380
+ BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
381
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, findOverlappingPairsD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies));
382
+ BT_GPU_CHECK_ERROR("Kernel execution failed: bt_CudaFindOverlappingPairsD");
383
+ #if B_CUDA_USE_TEX
384
+ BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
385
+ #endif
386
+ } // findOverlappingPairs()
387
+
388
+ //----------------------------------------------------------------------------------------
389
+
390
+ void BT_GPU_PREF(findPairsLarge(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge))
391
+ {
392
+ #if B_CUDA_USE_TEX
393
+ BT_GPU_SAFE_CALL(cudaBindTexture(0, pAABBTex, pAABB, (numBodies+numLarge) * 2 * sizeof(bt3DGrid3F1U)));
394
+ #endif
395
+ int numThreads, numBlocks;
396
+ BT_GPU_PREF(computeGridSize)(numBodies, 64, numBlocks, numThreads);
397
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, findPairsLargeD, (pAABB,(uint2*)pHash,(uint*)pCellStart,(uint*)pPairBuff,(uint2*)pPairBuffStartCurr,numBodies,numLarge));
398
+ BT_GPU_CHECK_ERROR("Kernel execution failed: btCuda_findPairsLargeD");
399
+ #if B_CUDA_USE_TEX
400
+ BT_GPU_SAFE_CALL(cudaUnbindTexture(pAABBTex));
401
+ #endif
402
+ } // findPairsLarge()
403
+
404
+ //----------------------------------------------------------------------------------------
405
+
406
+ void BT_GPU_PREF(computePairCacheChanges(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies))
407
+ {
408
+ int numThreads, numBlocks;
409
+ BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
410
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, computePairCacheChangesD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,pAABB,numBodies));
411
+ BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaComputePairCacheChangesD");
412
+ } // computePairCacheChanges()
413
+
414
+ //----------------------------------------------------------------------------------------
415
+
416
+ void BT_GPU_PREF(squeezeOverlappingPairBuff(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies))
417
+ {
418
+ int numThreads, numBlocks;
419
+ BT_GPU_PREF(computeGridSize)(numBodies, 256, numBlocks, numThreads);
420
+ BT_GPU_EXECKERNEL(numBlocks, numThreads, squeezeOverlappingPairBuffD, ((uint*)pPairBuff,(uint2*)pPairBuffStartCurr,(uint*)pPairScan,(uint*)pPairOut,pAABB,numBodies));
421
+ BT_GPU_CHECK_ERROR("Kernel execution failed: btCudaSqueezeOverlappingPairBuffD");
422
+ } // btCuda_squeezeOverlappingPairBuff()
423
+
424
+ //------------------------------------------------------------------------------------------------
425
+
426
+ } // extern "C"
427
+
428
+ //------------------------------------------------------------------------------------------------
429
+ //------------------------------------------------------------------------------------------------
430
+ //------------------------------------------------------------------------------------------------
@@ -0,0 +1,61 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
3
+ Copyright (C) 2006, 2009 Sony Computer Entertainment Inc.
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
+
18
+ // Shared definitions for GPU-based 3D Grid collision detection broadphase
19
+
20
+ //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
21
+ // Keep this file free from Bullet headers
22
+ // it is included into both CUDA and CPU code
23
+ //!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
24
+
25
+ //----------------------------------------------------------------------------------------
26
+
27
+ #ifndef BTGPU3DGRIDBROADPHASESHAREDDEFS_H
28
+ #define BTGPU3DGRIDBROADPHASESHAREDDEFS_H
29
+
30
+ //----------------------------------------------------------------------------------------
31
+
32
+ #include "btGpu3DGridBroadphaseSharedTypes.h"
33
+
34
+ //----------------------------------------------------------------------------------------
35
+
36
+ extern "C"
37
+ {
38
+
39
+ //----------------------------------------------------------------------------------------
40
+
41
+ void BT_GPU_PREF(calcHashAABB)(bt3DGrid3F1U* pAABB, unsigned int* hash, unsigned int numBodies);
42
+
43
+ void BT_GPU_PREF(findCellStart)(unsigned int* hash, unsigned int* cellStart, unsigned int numBodies, unsigned int numCells);
44
+
45
+ void BT_GPU_PREF(findOverlappingPairs)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies);
46
+
47
+ void BT_GPU_PREF(findPairsLarge)(bt3DGrid3F1U* pAABB, unsigned int* pHash, unsigned int* pCellStart, unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int numBodies, unsigned int numLarge);
48
+
49
+ void BT_GPU_PREF(computePairCacheChanges)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, bt3DGrid3F1U* pAABB, unsigned int numBodies);
50
+
51
+ void BT_GPU_PREF(squeezeOverlappingPairBuff)(unsigned int* pPairBuff, unsigned int* pPairBuffStartCurr, unsigned int* pPairScan, unsigned int* pPairOut, bt3DGrid3F1U* pAABB, unsigned int numBodies);
52
+
53
+
54
+ //----------------------------------------------------------------------------------------
55
+
56
+ } // extern "C"
57
+
58
+ //----------------------------------------------------------------------------------------
59
+
60
+ #endif // BTGPU3DGRIDBROADPHASESHAREDDEFS_H
61
+