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 +1,930 @@
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
+ ///btSoftBody implementation by Nathanael Presson
16
+
17
+ #ifndef _BT_SOFT_BODY_INTERNALS_H
18
+ #define _BT_SOFT_BODY_INTERNALS_H
19
+
20
+ #include "btSoftBody.h"
21
+
22
+
23
+ #include "LinearMath/btQuickprof.h"
24
+ #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
25
+ #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
26
+ #include "BulletCollision/CollisionShapes/btConvexInternalShape.h"
27
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
28
+ #include <string.h> //for memset
29
+ //
30
+ // btSymMatrix
31
+ //
32
+ template <typename T>
33
+ struct btSymMatrix
34
+ {
35
+ btSymMatrix() : dim(0) {}
36
+ btSymMatrix(int n,const T& init=T()) { resize(n,init); }
37
+ void resize(int n,const T& init=T()) { dim=n;store.resize((n*(n+1))/2,init); }
38
+ int index(int c,int r) const { if(c>r) btSwap(c,r);btAssert(r<dim);return((r*(r+1))/2+c); }
39
+ T& operator()(int c,int r) { return(store[index(c,r)]); }
40
+ const T& operator()(int c,int r) const { return(store[index(c,r)]); }
41
+ btAlignedObjectArray<T> store;
42
+ int dim;
43
+ };
44
+
45
+ //
46
+ // btSoftBodyCollisionShape
47
+ //
48
+ class btSoftBodyCollisionShape : public btConcaveShape
49
+ {
50
+ public:
51
+ btSoftBody* m_body;
52
+
53
+ btSoftBodyCollisionShape(btSoftBody* backptr)
54
+ {
55
+ m_shapeType = SOFTBODY_SHAPE_PROXYTYPE;
56
+ m_body=backptr;
57
+ }
58
+
59
+ virtual ~btSoftBodyCollisionShape()
60
+ {
61
+
62
+ }
63
+
64
+ void processAllTriangles(btTriangleCallback* /*callback*/,const btVector3& /*aabbMin*/,const btVector3& /*aabbMax*/) const
65
+ {
66
+ //not yet
67
+ btAssert(0);
68
+ }
69
+
70
+ ///getAabb returns the axis aligned bounding box in the coordinate frame of the given transform t.
71
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
72
+ {
73
+ /* t is usually identity, except when colliding against btCompoundShape. See Issue 512 */
74
+ const btVector3 mins=m_body->m_bounds[0];
75
+ const btVector3 maxs=m_body->m_bounds[1];
76
+ const btVector3 crns[]={t*btVector3(mins.x(),mins.y(),mins.z()),
77
+ t*btVector3(maxs.x(),mins.y(),mins.z()),
78
+ t*btVector3(maxs.x(),maxs.y(),mins.z()),
79
+ t*btVector3(mins.x(),maxs.y(),mins.z()),
80
+ t*btVector3(mins.x(),mins.y(),maxs.z()),
81
+ t*btVector3(maxs.x(),mins.y(),maxs.z()),
82
+ t*btVector3(maxs.x(),maxs.y(),maxs.z()),
83
+ t*btVector3(mins.x(),maxs.y(),maxs.z())};
84
+ aabbMin=aabbMax=crns[0];
85
+ for(int i=1;i<8;++i)
86
+ {
87
+ aabbMin.setMin(crns[i]);
88
+ aabbMax.setMax(crns[i]);
89
+ }
90
+ }
91
+
92
+
93
+ virtual void setLocalScaling(const btVector3& /*scaling*/)
94
+ {
95
+ ///na
96
+ }
97
+ virtual const btVector3& getLocalScaling() const
98
+ {
99
+ static const btVector3 dummy(1,1,1);
100
+ return dummy;
101
+ }
102
+ virtual void calculateLocalInertia(btScalar /*mass*/,btVector3& /*inertia*/) const
103
+ {
104
+ ///not yet
105
+ btAssert(0);
106
+ }
107
+ virtual const char* getName()const
108
+ {
109
+ return "SoftBody";
110
+ }
111
+
112
+ };
113
+
114
+ //
115
+ // btSoftClusterCollisionShape
116
+ //
117
+ class btSoftClusterCollisionShape : public btConvexInternalShape
118
+ {
119
+ public:
120
+ const btSoftBody::Cluster* m_cluster;
121
+
122
+ btSoftClusterCollisionShape (const btSoftBody::Cluster* cluster) : m_cluster(cluster) { setMargin(0); }
123
+
124
+
125
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec) const
126
+ {
127
+ btSoftBody::Node* const * n=&m_cluster->m_nodes[0];
128
+ btScalar d=btDot(vec,n[0]->m_x);
129
+ int j=0;
130
+ for(int i=1,ni=m_cluster->m_nodes.size();i<ni;++i)
131
+ {
132
+ const btScalar k=btDot(vec,n[i]->m_x);
133
+ if(k>d) { d=k;j=i; }
134
+ }
135
+ return(n[j]->m_x);
136
+ }
137
+ virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
138
+ {
139
+ return(localGetSupportingVertex(vec));
140
+ }
141
+ //notice that the vectors should be unit length
142
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
143
+ {}
144
+
145
+
146
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
147
+ {}
148
+
149
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
150
+ {}
151
+
152
+ virtual int getShapeType() const { return SOFTBODY_SHAPE_PROXYTYPE; }
153
+
154
+ //debugging
155
+ virtual const char* getName()const {return "SOFTCLUSTER";}
156
+
157
+ virtual void setMargin(btScalar margin)
158
+ {
159
+ btConvexInternalShape::setMargin(margin);
160
+ }
161
+ virtual btScalar getMargin() const
162
+ {
163
+ return getMargin();
164
+ }
165
+ };
166
+
167
+ //
168
+ // Inline's
169
+ //
170
+
171
+ //
172
+ template <typename T>
173
+ static inline void ZeroInitialize(T& value)
174
+ {
175
+ memset(&value,0,sizeof(T));
176
+ }
177
+ //
178
+ template <typename T>
179
+ static inline bool CompLess(const T& a,const T& b)
180
+ { return(a<b); }
181
+ //
182
+ template <typename T>
183
+ static inline bool CompGreater(const T& a,const T& b)
184
+ { return(a>b); }
185
+ //
186
+ template <typename T>
187
+ static inline T Lerp(const T& a,const T& b,btScalar t)
188
+ { return(a+(b-a)*t); }
189
+ //
190
+ template <typename T>
191
+ static inline T InvLerp(const T& a,const T& b,btScalar t)
192
+ { return((b+a*t-b*t)/(a*b)); }
193
+ //
194
+ static inline btMatrix3x3 Lerp( const btMatrix3x3& a,
195
+ const btMatrix3x3& b,
196
+ btScalar t)
197
+ {
198
+ btMatrix3x3 r;
199
+ r[0]=Lerp(a[0],b[0],t);
200
+ r[1]=Lerp(a[1],b[1],t);
201
+ r[2]=Lerp(a[2],b[2],t);
202
+ return(r);
203
+ }
204
+ //
205
+ static inline btVector3 Clamp(const btVector3& v,btScalar maxlength)
206
+ {
207
+ const btScalar sql=v.length2();
208
+ if(sql>(maxlength*maxlength))
209
+ return((v*maxlength)/btSqrt(sql));
210
+ else
211
+ return(v);
212
+ }
213
+ //
214
+ template <typename T>
215
+ static inline T Clamp(const T& x,const T& l,const T& h)
216
+ { return(x<l?l:x>h?h:x); }
217
+ //
218
+ template <typename T>
219
+ static inline T Sq(const T& x)
220
+ { return(x*x); }
221
+ //
222
+ template <typename T>
223
+ static inline T Cube(const T& x)
224
+ { return(x*x*x); }
225
+ //
226
+ template <typename T>
227
+ static inline T Sign(const T& x)
228
+ { return((T)(x<0?-1:+1)); }
229
+ //
230
+ template <typename T>
231
+ static inline bool SameSign(const T& x,const T& y)
232
+ { return((x*y)>0); }
233
+ //
234
+ static inline btScalar ClusterMetric(const btVector3& x,const btVector3& y)
235
+ {
236
+ const btVector3 d=x-y;
237
+ return(btFabs(d[0])+btFabs(d[1])+btFabs(d[2]));
238
+ }
239
+ //
240
+ static inline btMatrix3x3 ScaleAlongAxis(const btVector3& a,btScalar s)
241
+ {
242
+ const btScalar xx=a.x()*a.x();
243
+ const btScalar yy=a.y()*a.y();
244
+ const btScalar zz=a.z()*a.z();
245
+ const btScalar xy=a.x()*a.y();
246
+ const btScalar yz=a.y()*a.z();
247
+ const btScalar zx=a.z()*a.x();
248
+ btMatrix3x3 m;
249
+ m[0]=btVector3(1-xx+xx*s,xy*s-xy,zx*s-zx);
250
+ m[1]=btVector3(xy*s-xy,1-yy+yy*s,yz*s-yz);
251
+ m[2]=btVector3(zx*s-zx,yz*s-yz,1-zz+zz*s);
252
+ return(m);
253
+ }
254
+ //
255
+ static inline btMatrix3x3 Cross(const btVector3& v)
256
+ {
257
+ btMatrix3x3 m;
258
+ m[0]=btVector3(0,-v.z(),+v.y());
259
+ m[1]=btVector3(+v.z(),0,-v.x());
260
+ m[2]=btVector3(-v.y(),+v.x(),0);
261
+ return(m);
262
+ }
263
+ //
264
+ static inline btMatrix3x3 Diagonal(btScalar x)
265
+ {
266
+ btMatrix3x3 m;
267
+ m[0]=btVector3(x,0,0);
268
+ m[1]=btVector3(0,x,0);
269
+ m[2]=btVector3(0,0,x);
270
+ return(m);
271
+ }
272
+ //
273
+ static inline btMatrix3x3 Add(const btMatrix3x3& a,
274
+ const btMatrix3x3& b)
275
+ {
276
+ btMatrix3x3 r;
277
+ for(int i=0;i<3;++i) r[i]=a[i]+b[i];
278
+ return(r);
279
+ }
280
+ //
281
+ static inline btMatrix3x3 Sub(const btMatrix3x3& a,
282
+ const btMatrix3x3& b)
283
+ {
284
+ btMatrix3x3 r;
285
+ for(int i=0;i<3;++i) r[i]=a[i]-b[i];
286
+ return(r);
287
+ }
288
+ //
289
+ static inline btMatrix3x3 Mul(const btMatrix3x3& a,
290
+ btScalar b)
291
+ {
292
+ btMatrix3x3 r;
293
+ for(int i=0;i<3;++i) r[i]=a[i]*b;
294
+ return(r);
295
+ }
296
+ //
297
+ static inline void Orthogonalize(btMatrix3x3& m)
298
+ {
299
+ m[2]=btCross(m[0],m[1]).normalized();
300
+ m[1]=btCross(m[2],m[0]).normalized();
301
+ m[0]=btCross(m[1],m[2]).normalized();
302
+ }
303
+ //
304
+ static inline btMatrix3x3 MassMatrix(btScalar im,const btMatrix3x3& iwi,const btVector3& r)
305
+ {
306
+ const btMatrix3x3 cr=Cross(r);
307
+ return(Sub(Diagonal(im),cr*iwi*cr));
308
+ }
309
+
310
+ //
311
+ static inline btMatrix3x3 ImpulseMatrix( btScalar dt,
312
+ btScalar ima,
313
+ btScalar imb,
314
+ const btMatrix3x3& iwi,
315
+ const btVector3& r)
316
+ {
317
+ return(Diagonal(1/dt)*Add(Diagonal(ima),MassMatrix(imb,iwi,r)).inverse());
318
+ }
319
+
320
+ //
321
+ static inline btMatrix3x3 ImpulseMatrix( btScalar ima,const btMatrix3x3& iia,const btVector3& ra,
322
+ btScalar imb,const btMatrix3x3& iib,const btVector3& rb)
323
+ {
324
+ return(Add(MassMatrix(ima,iia,ra),MassMatrix(imb,iib,rb)).inverse());
325
+ }
326
+
327
+ //
328
+ static inline btMatrix3x3 AngularImpulseMatrix( const btMatrix3x3& iia,
329
+ const btMatrix3x3& iib)
330
+ {
331
+ return(Add(iia,iib).inverse());
332
+ }
333
+
334
+ //
335
+ static inline btVector3 ProjectOnAxis( const btVector3& v,
336
+ const btVector3& a)
337
+ {
338
+ return(a*btDot(v,a));
339
+ }
340
+ //
341
+ static inline btVector3 ProjectOnPlane( const btVector3& v,
342
+ const btVector3& a)
343
+ {
344
+ return(v-ProjectOnAxis(v,a));
345
+ }
346
+
347
+ //
348
+ static inline void ProjectOrigin( const btVector3& a,
349
+ const btVector3& b,
350
+ btVector3& prj,
351
+ btScalar& sqd)
352
+ {
353
+ const btVector3 d=b-a;
354
+ const btScalar m2=d.length2();
355
+ if(m2>SIMD_EPSILON)
356
+ {
357
+ const btScalar t=Clamp<btScalar>(-btDot(a,d)/m2,0,1);
358
+ const btVector3 p=a+d*t;
359
+ const btScalar l2=p.length2();
360
+ if(l2<sqd)
361
+ {
362
+ prj=p;
363
+ sqd=l2;
364
+ }
365
+ }
366
+ }
367
+ //
368
+ static inline void ProjectOrigin( const btVector3& a,
369
+ const btVector3& b,
370
+ const btVector3& c,
371
+ btVector3& prj,
372
+ btScalar& sqd)
373
+ {
374
+ const btVector3& q=btCross(b-a,c-a);
375
+ const btScalar m2=q.length2();
376
+ if(m2>SIMD_EPSILON)
377
+ {
378
+ const btVector3 n=q/btSqrt(m2);
379
+ const btScalar k=btDot(a,n);
380
+ const btScalar k2=k*k;
381
+ if(k2<sqd)
382
+ {
383
+ const btVector3 p=n*k;
384
+ if( (btDot(btCross(a-p,b-p),q)>0)&&
385
+ (btDot(btCross(b-p,c-p),q)>0)&&
386
+ (btDot(btCross(c-p,a-p),q)>0))
387
+ {
388
+ prj=p;
389
+ sqd=k2;
390
+ }
391
+ else
392
+ {
393
+ ProjectOrigin(a,b,prj,sqd);
394
+ ProjectOrigin(b,c,prj,sqd);
395
+ ProjectOrigin(c,a,prj,sqd);
396
+ }
397
+ }
398
+ }
399
+ }
400
+
401
+ //
402
+ template <typename T>
403
+ static inline T BaryEval( const T& a,
404
+ const T& b,
405
+ const T& c,
406
+ const btVector3& coord)
407
+ {
408
+ return(a*coord.x()+b*coord.y()+c*coord.z());
409
+ }
410
+ //
411
+ static inline btVector3 BaryCoord( const btVector3& a,
412
+ const btVector3& b,
413
+ const btVector3& c,
414
+ const btVector3& p)
415
+ {
416
+ const btScalar w[]={ btCross(a-p,b-p).length(),
417
+ btCross(b-p,c-p).length(),
418
+ btCross(c-p,a-p).length()};
419
+ const btScalar isum=1/(w[0]+w[1]+w[2]);
420
+ return(btVector3(w[1]*isum,w[2]*isum,w[0]*isum));
421
+ }
422
+
423
+ //
424
+ static btScalar ImplicitSolve( btSoftBody::ImplicitFn* fn,
425
+ const btVector3& a,
426
+ const btVector3& b,
427
+ const btScalar accuracy,
428
+ const int maxiterations=256)
429
+ {
430
+ btScalar span[2]={0,1};
431
+ btScalar values[2]={fn->Eval(a),fn->Eval(b)};
432
+ if(values[0]>values[1])
433
+ {
434
+ btSwap(span[0],span[1]);
435
+ btSwap(values[0],values[1]);
436
+ }
437
+ if(values[0]>-accuracy) return(-1);
438
+ if(values[1]<+accuracy) return(-1);
439
+ for(int i=0;i<maxiterations;++i)
440
+ {
441
+ const btScalar t=Lerp(span[0],span[1],values[0]/(values[0]-values[1]));
442
+ const btScalar v=fn->Eval(Lerp(a,b,t));
443
+ if((t<=0)||(t>=1)) break;
444
+ if(btFabs(v)<accuracy) return(t);
445
+ if(v<0)
446
+ { span[0]=t;values[0]=v; }
447
+ else
448
+ { span[1]=t;values[1]=v; }
449
+ }
450
+ return(-1);
451
+ }
452
+
453
+ //
454
+ static inline btVector3 NormalizeAny(const btVector3& v)
455
+ {
456
+ const btScalar l=v.length();
457
+ if(l>SIMD_EPSILON)
458
+ return(v/l);
459
+ else
460
+ return(btVector3(0,0,0));
461
+ }
462
+
463
+ //
464
+ static inline btDbvtVolume VolumeOf( const btSoftBody::Face& f,
465
+ btScalar margin)
466
+ {
467
+ const btVector3* pts[]={ &f.m_n[0]->m_x,
468
+ &f.m_n[1]->m_x,
469
+ &f.m_n[2]->m_x};
470
+ btDbvtVolume vol=btDbvtVolume::FromPoints(pts,3);
471
+ vol.Expand(btVector3(margin,margin,margin));
472
+ return(vol);
473
+ }
474
+
475
+ //
476
+ static inline btVector3 CenterOf( const btSoftBody::Face& f)
477
+ {
478
+ return((f.m_n[0]->m_x+f.m_n[1]->m_x+f.m_n[2]->m_x)/3);
479
+ }
480
+
481
+ //
482
+ static inline btScalar AreaOf( const btVector3& x0,
483
+ const btVector3& x1,
484
+ const btVector3& x2)
485
+ {
486
+ const btVector3 a=x1-x0;
487
+ const btVector3 b=x2-x0;
488
+ const btVector3 cr=btCross(a,b);
489
+ const btScalar area=cr.length();
490
+ return(area);
491
+ }
492
+
493
+ //
494
+ static inline btScalar VolumeOf( const btVector3& x0,
495
+ const btVector3& x1,
496
+ const btVector3& x2,
497
+ const btVector3& x3)
498
+ {
499
+ const btVector3 a=x1-x0;
500
+ const btVector3 b=x2-x0;
501
+ const btVector3 c=x3-x0;
502
+ return(btDot(a,btCross(b,c)));
503
+ }
504
+
505
+ //
506
+ static void EvaluateMedium( const btSoftBodyWorldInfo* wfi,
507
+ const btVector3& x,
508
+ btSoftBody::sMedium& medium)
509
+ {
510
+ medium.m_velocity = btVector3(0,0,0);
511
+ medium.m_pressure = 0;
512
+ medium.m_density = wfi->air_density;
513
+ if(wfi->water_density>0)
514
+ {
515
+ const btScalar depth=-(btDot(x,wfi->water_normal)+wfi->water_offset);
516
+ if(depth>0)
517
+ {
518
+ medium.m_density = wfi->water_density;
519
+ medium.m_pressure = depth*wfi->water_density*wfi->m_gravity.length();
520
+ }
521
+ }
522
+ }
523
+
524
+ //
525
+ static inline void ApplyClampedForce( btSoftBody::Node& n,
526
+ const btVector3& f,
527
+ btScalar dt)
528
+ {
529
+ const btScalar dtim=dt*n.m_im;
530
+ if((f*dtim).length2()>n.m_v.length2())
531
+ {/* Clamp */
532
+ n.m_f-=ProjectOnAxis(n.m_v,f.normalized())/dtim;
533
+ }
534
+ else
535
+ {/* Apply */
536
+ n.m_f+=f;
537
+ }
538
+ }
539
+
540
+ //
541
+ static inline int MatchEdge( const btSoftBody::Node* a,
542
+ const btSoftBody::Node* b,
543
+ const btSoftBody::Node* ma,
544
+ const btSoftBody::Node* mb)
545
+ {
546
+ if((a==ma)&&(b==mb)) return(0);
547
+ if((a==mb)&&(b==ma)) return(1);
548
+ return(-1);
549
+ }
550
+
551
+ //
552
+ // btEigen : Extract eigen system,
553
+ // straitforward implementation of http://math.fullerton.edu/mathews/n2003/JacobiMethodMod.html
554
+ // outputs are NOT sorted.
555
+ //
556
+ struct btEigen
557
+ {
558
+ static int system(btMatrix3x3& a,btMatrix3x3* vectors,btVector3* values=0)
559
+ {
560
+ static const int maxiterations=16;
561
+ static const btScalar accuracy=(btScalar)0.0001;
562
+ btMatrix3x3& v=*vectors;
563
+ int iterations=0;
564
+ vectors->setIdentity();
565
+ do {
566
+ int p=0,q=1;
567
+ if(btFabs(a[p][q])<btFabs(a[0][2])) { p=0;q=2; }
568
+ if(btFabs(a[p][q])<btFabs(a[1][2])) { p=1;q=2; }
569
+ if(btFabs(a[p][q])>accuracy)
570
+ {
571
+ const btScalar w=(a[q][q]-a[p][p])/(2*a[p][q]);
572
+ const btScalar z=btFabs(w);
573
+ const btScalar t=w/(z*(btSqrt(1+w*w)+z));
574
+ if(t==t)/* [WARNING] let hope that one does not get thrown aways by some compilers... */
575
+ {
576
+ const btScalar c=1/btSqrt(t*t+1);
577
+ const btScalar s=c*t;
578
+ mulPQ(a,c,s,p,q);
579
+ mulTPQ(a,c,s,p,q);
580
+ mulPQ(v,c,s,p,q);
581
+ } else break;
582
+ } else break;
583
+ } while((++iterations)<maxiterations);
584
+ if(values)
585
+ {
586
+ *values=btVector3(a[0][0],a[1][1],a[2][2]);
587
+ }
588
+ return(iterations);
589
+ }
590
+ private:
591
+ static inline void mulTPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
592
+ {
593
+ const btScalar m[2][3]={ {a[p][0],a[p][1],a[p][2]},
594
+ {a[q][0],a[q][1],a[q][2]}};
595
+ int i;
596
+
597
+ for(i=0;i<3;++i) a[p][i]=c*m[0][i]-s*m[1][i];
598
+ for(i=0;i<3;++i) a[q][i]=c*m[1][i]+s*m[0][i];
599
+ }
600
+ static inline void mulPQ(btMatrix3x3& a,btScalar c,btScalar s,int p,int q)
601
+ {
602
+ const btScalar m[2][3]={ {a[0][p],a[1][p],a[2][p]},
603
+ {a[0][q],a[1][q],a[2][q]}};
604
+ int i;
605
+
606
+ for(i=0;i<3;++i) a[i][p]=c*m[0][i]-s*m[1][i];
607
+ for(i=0;i<3;++i) a[i][q]=c*m[1][i]+s*m[0][i];
608
+ }
609
+ };
610
+
611
+ //
612
+ // Polar decomposition,
613
+ // "Computing the Polar Decomposition with Applications", Nicholas J. Higham, 1986.
614
+ //
615
+ static inline int PolarDecompose( const btMatrix3x3& m,btMatrix3x3& q,btMatrix3x3& s)
616
+ {
617
+ static const btScalar half=(btScalar)0.5;
618
+ static const btScalar accuracy=(btScalar)0.0001;
619
+ static const int maxiterations=16;
620
+ int i=0;
621
+ btScalar det=0;
622
+ q = Mul(m,1/btVector3(m[0][0],m[1][1],m[2][2]).length());
623
+ det = q.determinant();
624
+ if(!btFuzzyZero(det))
625
+ {
626
+ for(;i<maxiterations;++i)
627
+ {
628
+ q=Mul(Add(q,Mul(q.adjoint(),1/det).transpose()),half);
629
+ const btScalar ndet=q.determinant();
630
+ if(Sq(ndet-det)>accuracy) det=ndet; else break;
631
+ }
632
+ /* Final orthogonalization */
633
+ Orthogonalize(q);
634
+ /* Compute 'S' */
635
+ s=q.transpose()*m;
636
+ }
637
+ else
638
+ {
639
+ q.setIdentity();
640
+ s.setIdentity();
641
+ }
642
+ return(i);
643
+ }
644
+
645
+ //
646
+ // btSoftColliders
647
+ //
648
+ struct btSoftColliders
649
+ {
650
+ //
651
+ // ClusterBase
652
+ //
653
+ struct ClusterBase : btDbvt::ICollide
654
+ {
655
+ btScalar erp;
656
+ btScalar idt;
657
+ btScalar m_margin;
658
+ btScalar friction;
659
+ btScalar threshold;
660
+ ClusterBase()
661
+ {
662
+ erp =(btScalar)1;
663
+ idt =0;
664
+ m_margin =0;
665
+ friction =0;
666
+ threshold =(btScalar)0;
667
+ }
668
+ bool SolveContact( const btGjkEpaSolver2::sResults& res,
669
+ btSoftBody::Body ba,btSoftBody::Body bb,
670
+ btSoftBody::CJoint& joint)
671
+ {
672
+ if(res.distance<m_margin)
673
+ {
674
+ btVector3 norm = res.normal;
675
+ norm.normalize();//is it necessary?
676
+
677
+ const btVector3 ra=res.witnesses[0]-ba.xform().getOrigin();
678
+ const btVector3 rb=res.witnesses[1]-bb.xform().getOrigin();
679
+ const btVector3 va=ba.velocity(ra);
680
+ const btVector3 vb=bb.velocity(rb);
681
+ const btVector3 vrel=va-vb;
682
+ const btScalar rvac=btDot(vrel,norm);
683
+ btScalar depth=res.distance-m_margin;
684
+
685
+ // printf("depth=%f\n",depth);
686
+ const btVector3 iv=norm*rvac;
687
+ const btVector3 fv=vrel-iv;
688
+ joint.m_bodies[0] = ba;
689
+ joint.m_bodies[1] = bb;
690
+ joint.m_refs[0] = ra*ba.xform().getBasis();
691
+ joint.m_refs[1] = rb*bb.xform().getBasis();
692
+ joint.m_rpos[0] = ra;
693
+ joint.m_rpos[1] = rb;
694
+ joint.m_cfm = 1;
695
+ joint.m_erp = 1;
696
+ joint.m_life = 0;
697
+ joint.m_maxlife = 0;
698
+ joint.m_split = 1;
699
+
700
+ joint.m_drift = depth*norm;
701
+
702
+ joint.m_normal = norm;
703
+ // printf("normal=%f,%f,%f\n",res.normal.getX(),res.normal.getY(),res.normal.getZ());
704
+ joint.m_delete = false;
705
+ joint.m_friction = fv.length2()<(-rvac*friction)?1:friction;
706
+ joint.m_massmatrix = ImpulseMatrix( ba.invMass(),ba.invWorldInertia(),joint.m_rpos[0],
707
+ bb.invMass(),bb.invWorldInertia(),joint.m_rpos[1]);
708
+
709
+ return(true);
710
+ }
711
+ return(false);
712
+ }
713
+ };
714
+ //
715
+ // CollideCL_RS
716
+ //
717
+ struct CollideCL_RS : ClusterBase
718
+ {
719
+ btSoftBody* psb;
720
+
721
+ btCollisionObject* m_colObj;
722
+ void Process(const btDbvtNode* leaf)
723
+ {
724
+ btSoftBody::Cluster* cluster=(btSoftBody::Cluster*)leaf->data;
725
+ btSoftClusterCollisionShape cshape(cluster);
726
+
727
+ const btConvexShape* rshape=(const btConvexShape*)m_colObj->getCollisionShape();
728
+
729
+ ///don't collide an anchored cluster with a static/kinematic object
730
+ if(m_colObj->isStaticOrKinematicObject() && cluster->m_containsAnchor)
731
+ return;
732
+
733
+ btGjkEpaSolver2::sResults res;
734
+ if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(),
735
+ rshape,m_colObj->getWorldTransform(),
736
+ btVector3(1,0,0),res))
737
+ {
738
+ btSoftBody::CJoint joint;
739
+ if(SolveContact(res,cluster,m_colObj,joint))//prb,joint))
740
+ {
741
+ btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
742
+ *pj=joint;psb->m_joints.push_back(pj);
743
+ if(m_colObj->isStaticOrKinematicObject())
744
+ {
745
+ pj->m_erp *= psb->m_cfg.kSKHR_CL;
746
+ pj->m_split *= psb->m_cfg.kSK_SPLT_CL;
747
+ }
748
+ else
749
+ {
750
+ pj->m_erp *= psb->m_cfg.kSRHR_CL;
751
+ pj->m_split *= psb->m_cfg.kSR_SPLT_CL;
752
+ }
753
+ }
754
+ }
755
+ }
756
+ void Process(btSoftBody* ps,btCollisionObject* colOb)
757
+ {
758
+ psb = ps;
759
+ m_colObj = colOb;
760
+ idt = ps->m_sst.isdt;
761
+ m_margin = m_colObj->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin();
762
+ ///Bullet rigid body uses multiply instead of minimum to determine combined friction. Some customization would be useful.
763
+ friction = btMin(psb->m_cfg.kDF,m_colObj->getFriction());
764
+ btVector3 mins;
765
+ btVector3 maxs;
766
+
767
+ ATTRIBUTE_ALIGNED16(btDbvtVolume) volume;
768
+ colOb->getCollisionShape()->getAabb(colOb->getWorldTransform(),mins,maxs);
769
+ volume=btDbvtVolume::FromMM(mins,maxs);
770
+ volume.Expand(btVector3(1,1,1)*m_margin);
771
+ ps->m_cdbvt.collideTV(ps->m_cdbvt.m_root,volume,*this);
772
+ }
773
+ };
774
+ //
775
+ // CollideCL_SS
776
+ //
777
+ struct CollideCL_SS : ClusterBase
778
+ {
779
+ btSoftBody* bodies[2];
780
+ void Process(const btDbvtNode* la,const btDbvtNode* lb)
781
+ {
782
+ btSoftBody::Cluster* cla=(btSoftBody::Cluster*)la->data;
783
+ btSoftBody::Cluster* clb=(btSoftBody::Cluster*)lb->data;
784
+
785
+
786
+ bool connected=false;
787
+ if ((bodies[0]==bodies[1])&&(bodies[0]->m_clusterConnectivity.size()))
788
+ {
789
+ connected = bodies[0]->m_clusterConnectivity[cla->m_clusterIndex+bodies[0]->m_clusters.size()*clb->m_clusterIndex];
790
+ }
791
+
792
+ if (!connected)
793
+ {
794
+ btSoftClusterCollisionShape csa(cla);
795
+ btSoftClusterCollisionShape csb(clb);
796
+ btGjkEpaSolver2::sResults res;
797
+ if(btGjkEpaSolver2::SignedDistance( &csa,btTransform::getIdentity(),
798
+ &csb,btTransform::getIdentity(),
799
+ cla->m_com-clb->m_com,res))
800
+ {
801
+ btSoftBody::CJoint joint;
802
+ if(SolveContact(res,cla,clb,joint))
803
+ {
804
+ btSoftBody::CJoint* pj=new(btAlignedAlloc(sizeof(btSoftBody::CJoint),16)) btSoftBody::CJoint();
805
+ *pj=joint;bodies[0]->m_joints.push_back(pj);
806
+ pj->m_erp *= btMax(bodies[0]->m_cfg.kSSHR_CL,bodies[1]->m_cfg.kSSHR_CL);
807
+ pj->m_split *= (bodies[0]->m_cfg.kSS_SPLT_CL+bodies[1]->m_cfg.kSS_SPLT_CL)/2;
808
+ }
809
+ }
810
+ } else
811
+ {
812
+ static int count=0;
813
+ count++;
814
+ //printf("count=%d\n",count);
815
+
816
+ }
817
+ }
818
+ void Process(btSoftBody* psa,btSoftBody* psb)
819
+ {
820
+ idt = psa->m_sst.isdt;
821
+ //m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin())/2;
822
+ m_margin = (psa->getCollisionShape()->getMargin()+psb->getCollisionShape()->getMargin());
823
+ friction = btMin(psa->m_cfg.kDF,psb->m_cfg.kDF);
824
+ bodies[0] = psa;
825
+ bodies[1] = psb;
826
+ psa->m_cdbvt.collideTT(psa->m_cdbvt.m_root,psb->m_cdbvt.m_root,*this);
827
+ }
828
+ };
829
+ //
830
+ // CollideSDF_RS
831
+ //
832
+ struct CollideSDF_RS : btDbvt::ICollide
833
+ {
834
+ void Process(const btDbvtNode* leaf)
835
+ {
836
+ btSoftBody::Node* node=(btSoftBody::Node*)leaf->data;
837
+ DoNode(*node);
838
+ }
839
+ void DoNode(btSoftBody::Node& n) const
840
+ {
841
+ const btScalar m=n.m_im>0?dynmargin:stamargin;
842
+ btSoftBody::RContact c;
843
+ if( (!n.m_battach)&&
844
+ psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
845
+ {
846
+ const btScalar ima=n.m_im;
847
+ const btScalar imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
848
+ const btScalar ms=ima+imb;
849
+ if(ms>0)
850
+ {
851
+ const btTransform& wtr=m_rigidBody?m_rigidBody->getWorldTransform() : m_colObj1->getWorldTransform();
852
+ static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0);
853
+ const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
854
+ const btVector3 ra=n.m_x-wtr.getOrigin();
855
+ const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
856
+ const btVector3 vb=n.m_x-n.m_q;
857
+ const btVector3 vr=vb-va;
858
+ const btScalar dn=btDot(vr,c.m_cti.m_normal);
859
+ const btVector3 fv=vr-c.m_cti.m_normal*dn;
860
+ const btScalar fc=psb->m_cfg.kDF*m_colObj1->getFriction();
861
+ c.m_node = &n;
862
+ c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
863
+ c.m_c1 = ra;
864
+ c.m_c2 = ima*psb->m_sst.sdt;
865
+ c.m_c3 = fv.length2()<(btFabs(dn)*fc)?0:1-fc;
866
+ c.m_c4 = m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
867
+ psb->m_rcontacts.push_back(c);
868
+ if (m_rigidBody)
869
+ m_rigidBody->activate();
870
+ }
871
+ }
872
+ }
873
+ btSoftBody* psb;
874
+ btCollisionObject* m_colObj1;
875
+ btRigidBody* m_rigidBody;
876
+ btScalar dynmargin;
877
+ btScalar stamargin;
878
+ };
879
+ //
880
+ // CollideVF_SS
881
+ //
882
+ struct CollideVF_SS : btDbvt::ICollide
883
+ {
884
+ void Process(const btDbvtNode* lnode,
885
+ const btDbvtNode* lface)
886
+ {
887
+ btSoftBody::Node* node=(btSoftBody::Node*)lnode->data;
888
+ btSoftBody::Face* face=(btSoftBody::Face*)lface->data;
889
+ btVector3 o=node->m_x;
890
+ btVector3 p;
891
+ btScalar d=SIMD_INFINITY;
892
+ ProjectOrigin( face->m_n[0]->m_x-o,
893
+ face->m_n[1]->m_x-o,
894
+ face->m_n[2]->m_x-o,
895
+ p,d);
896
+ const btScalar m=mrg+(o-node->m_q).length()*2;
897
+ if(d<(m*m))
898
+ {
899
+ const btSoftBody::Node* n[]={face->m_n[0],face->m_n[1],face->m_n[2]};
900
+ const btVector3 w=BaryCoord(n[0]->m_x,n[1]->m_x,n[2]->m_x,p+o);
901
+ const btScalar ma=node->m_im;
902
+ btScalar mb=BaryEval(n[0]->m_im,n[1]->m_im,n[2]->m_im,w);
903
+ if( (n[0]->m_im<=0)||
904
+ (n[1]->m_im<=0)||
905
+ (n[2]->m_im<=0))
906
+ {
907
+ mb=0;
908
+ }
909
+ const btScalar ms=ma+mb;
910
+ if(ms>0)
911
+ {
912
+ btSoftBody::SContact c;
913
+ c.m_normal = p/-btSqrt(d);
914
+ c.m_margin = m;
915
+ c.m_node = node;
916
+ c.m_face = face;
917
+ c.m_weights = w;
918
+ c.m_friction = btMax(psb[0]->m_cfg.kDF,psb[1]->m_cfg.kDF);
919
+ c.m_cfm[0] = ma/ms*psb[0]->m_cfg.kSHR;
920
+ c.m_cfm[1] = mb/ms*psb[1]->m_cfg.kSHR;
921
+ psb[0]->m_scontacts.push_back(c);
922
+ }
923
+ }
924
+ }
925
+ btSoftBody* psb[2];
926
+ btScalar mrg;
927
+ };
928
+ };
929
+
930
+ #endif //_BT_SOFT_BODY_INTERNALS_H