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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  942. data/sample/hello_bullet/HelloBullet.rb +170 -0
  943. metadata +987 -0
@@ -0,0 +1,116 @@
1
+ /*
2
+ Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3
+
4
+ This software is provided 'as-is', without any express or implied warranty.
5
+ In no event will the authors be held liable for any damages arising from the use of this software.
6
+ Permission is granted to anyone to use this software for any purpose,
7
+ including commercial applications, and to alter it and redistribute it freely,
8
+ subject to the following restrictions:
9
+
10
+ 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.
11
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12
+ 3. This notice may not be removed or altered from any source distribution.
13
+ */
14
+
15
+ /*
16
+ StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
17
+ Nov.2006
18
+ */
19
+
20
+ #ifndef BT_STACK_ALLOC
21
+ #define BT_STACK_ALLOC
22
+
23
+ #include "btScalar.h" //for btAssert
24
+ #include "btAlignedAllocator.h"
25
+
26
+ ///The btBlock class is an internal structure for the btStackAlloc memory allocator.
27
+ struct btBlock
28
+ {
29
+ btBlock* previous;
30
+ unsigned char* address;
31
+ };
32
+
33
+ ///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
34
+ class btStackAlloc
35
+ {
36
+ public:
37
+
38
+ btStackAlloc(unsigned int size) { ctor();create(size); }
39
+ ~btStackAlloc() { destroy(); }
40
+
41
+ inline void create(unsigned int size)
42
+ {
43
+ destroy();
44
+ data = (unsigned char*) btAlignedAlloc(size,16);
45
+ totalsize = size;
46
+ }
47
+ inline void destroy()
48
+ {
49
+ btAssert(usedsize==0);
50
+ //Raise(L"StackAlloc is still in use");
51
+
52
+ if(usedsize==0)
53
+ {
54
+ if(!ischild && data)
55
+ btAlignedFree(data);
56
+
57
+ data = 0;
58
+ usedsize = 0;
59
+ }
60
+
61
+ }
62
+
63
+ int getAvailableMemory() const
64
+ {
65
+ return static_cast<int>(totalsize - usedsize);
66
+ }
67
+
68
+ unsigned char* allocate(unsigned int size)
69
+ {
70
+ const unsigned int nus(usedsize+size);
71
+ if(nus<totalsize)
72
+ {
73
+ usedsize=nus;
74
+ return(data+(usedsize-size));
75
+ }
76
+ btAssert(0);
77
+ //&& (L"Not enough memory"));
78
+
79
+ return(0);
80
+ }
81
+ SIMD_FORCE_INLINE btBlock* beginBlock()
82
+ {
83
+ btBlock* pb = (btBlock*)allocate(sizeof(btBlock));
84
+ pb->previous = current;
85
+ pb->address = data+usedsize;
86
+ current = pb;
87
+ return(pb);
88
+ }
89
+ SIMD_FORCE_INLINE void endBlock(btBlock* block)
90
+ {
91
+ btAssert(block==current);
92
+ //Raise(L"Unmatched blocks");
93
+ if(block==current)
94
+ {
95
+ current = block->previous;
96
+ usedsize = (unsigned int)((block->address-data)-sizeof(btBlock));
97
+ }
98
+ }
99
+
100
+ private:
101
+ void ctor()
102
+ {
103
+ data = 0;
104
+ totalsize = 0;
105
+ usedsize = 0;
106
+ current = 0;
107
+ ischild = false;
108
+ }
109
+ unsigned char* data;
110
+ unsigned int totalsize;
111
+ unsigned int usedsize;
112
+ btBlock* current;
113
+ bool ischild;
114
+ };
115
+
116
+ #endif //BT_STACK_ALLOC
@@ -0,0 +1,307 @@
1
+ /*
2
+ Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3
+
4
+ This software is provided 'as-is', without any express or implied warranty.
5
+ In no event will the authors be held liable for any damages arising from the use of this software.
6
+ Permission is granted to anyone to use this software for any purpose,
7
+ including commercial applications, and to alter it and redistribute it freely,
8
+ subject to the following restrictions:
9
+
10
+ 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.
11
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12
+ 3. This notice may not be removed or altered from any source distribution.
13
+ */
14
+
15
+
16
+
17
+ #ifndef BT_TRANSFORM_H
18
+ #define BT_TRANSFORM_H
19
+
20
+
21
+ #include "btMatrix3x3.h"
22
+
23
+ #ifdef BT_USE_DOUBLE_PRECISION
24
+ #define btTransformData btTransformDoubleData
25
+ #else
26
+ #define btTransformData btTransformFloatData
27
+ #endif
28
+
29
+
30
+
31
+
32
+ /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
33
+ *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
34
+ class btTransform {
35
+
36
+ ///Storage for the rotation
37
+ btMatrix3x3 m_basis;
38
+ ///Storage for the translation
39
+ btVector3 m_origin;
40
+
41
+ public:
42
+
43
+ /**@brief No initialization constructor */
44
+ btTransform() {}
45
+ /**@brief Constructor from btQuaternion (optional btVector3 )
46
+ * @param q Rotation from quaternion
47
+ * @param c Translation from Vector (default 0,0,0) */
48
+ explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q,
49
+ const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
50
+ : m_basis(q),
51
+ m_origin(c)
52
+ {}
53
+
54
+ /**@brief Constructor from btMatrix3x3 (optional btVector3)
55
+ * @param b Rotation from Matrix
56
+ * @param c Translation from Vector default (0,0,0)*/
57
+ explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b,
58
+ const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
59
+ : m_basis(b),
60
+ m_origin(c)
61
+ {}
62
+ /**@brief Copy constructor */
63
+ SIMD_FORCE_INLINE btTransform (const btTransform& other)
64
+ : m_basis(other.m_basis),
65
+ m_origin(other.m_origin)
66
+ {
67
+ }
68
+ /**@brief Assignment Operator */
69
+ SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
70
+ {
71
+ m_basis = other.m_basis;
72
+ m_origin = other.m_origin;
73
+ return *this;
74
+ }
75
+
76
+
77
+ /**@brief Set the current transform as the value of the product of two transforms
78
+ * @param t1 Transform 1
79
+ * @param t2 Transform 2
80
+ * This = Transform1 * Transform2 */
81
+ SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
82
+ m_basis = t1.m_basis * t2.m_basis;
83
+ m_origin = t1(t2.m_origin);
84
+ }
85
+
86
+ /* void multInverseLeft(const btTransform& t1, const btTransform& t2) {
87
+ btVector3 v = t2.m_origin - t1.m_origin;
88
+ m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
89
+ m_origin = v * t1.m_basis;
90
+ }
91
+ */
92
+
93
+ /**@brief Return the transform of the vector */
94
+ SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
95
+ {
96
+ return btVector3(m_basis[0].dot(x) + m_origin.x(),
97
+ m_basis[1].dot(x) + m_origin.y(),
98
+ m_basis[2].dot(x) + m_origin.z());
99
+ }
100
+
101
+ /**@brief Return the transform of the vector */
102
+ SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
103
+ {
104
+ return (*this)(x);
105
+ }
106
+
107
+ /**@brief Return the transform of the btQuaternion */
108
+ SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
109
+ {
110
+ return getRotation() * q;
111
+ }
112
+
113
+ /**@brief Return the basis matrix for the rotation */
114
+ SIMD_FORCE_INLINE btMatrix3x3& getBasis() { return m_basis; }
115
+ /**@brief Return the basis matrix for the rotation */
116
+ SIMD_FORCE_INLINE const btMatrix3x3& getBasis() const { return m_basis; }
117
+
118
+ /**@brief Return the origin vector translation */
119
+ SIMD_FORCE_INLINE btVector3& getOrigin() { return m_origin; }
120
+ /**@brief Return the origin vector translation */
121
+ SIMD_FORCE_INLINE const btVector3& getOrigin() const { return m_origin; }
122
+
123
+ /**@brief Return a quaternion representing the rotation */
124
+ btQuaternion getRotation() const {
125
+ btQuaternion q;
126
+ m_basis.getRotation(q);
127
+ return q;
128
+ }
129
+
130
+
131
+ /**@brief Set from an array
132
+ * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
133
+ void setFromOpenGLMatrix(const btScalar *m)
134
+ {
135
+ m_basis.setFromOpenGLSubMatrix(m);
136
+ m_origin.setValue(m[12],m[13],m[14]);
137
+ }
138
+
139
+ /**@brief Fill an array representation
140
+ * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
141
+ void getOpenGLMatrix(btScalar *m) const
142
+ {
143
+ m_basis.getOpenGLSubMatrix(m);
144
+ m[12] = m_origin.x();
145
+ m[13] = m_origin.y();
146
+ m[14] = m_origin.z();
147
+ m[15] = btScalar(1.0);
148
+ }
149
+
150
+ /**@brief Set the translational element
151
+ * @param origin The vector to set the translation to */
152
+ SIMD_FORCE_INLINE void setOrigin(const btVector3& origin)
153
+ {
154
+ m_origin = origin;
155
+ }
156
+
157
+ SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
158
+
159
+
160
+ /**@brief Set the rotational element by btMatrix3x3 */
161
+ SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
162
+ {
163
+ m_basis = basis;
164
+ }
165
+
166
+ /**@brief Set the rotational element by btQuaternion */
167
+ SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
168
+ {
169
+ m_basis.setRotation(q);
170
+ }
171
+
172
+
173
+ /**@brief Set this transformation to the identity */
174
+ void setIdentity()
175
+ {
176
+ m_basis.setIdentity();
177
+ m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
178
+ }
179
+
180
+ /**@brief Multiply this Transform by another(this = this * another)
181
+ * @param t The other transform */
182
+ btTransform& operator*=(const btTransform& t)
183
+ {
184
+ m_origin += m_basis * t.m_origin;
185
+ m_basis *= t.m_basis;
186
+ return *this;
187
+ }
188
+
189
+ /**@brief Return the inverse of this transform */
190
+ btTransform inverse() const
191
+ {
192
+ btMatrix3x3 inv = m_basis.transpose();
193
+ return btTransform(inv, inv * -m_origin);
194
+ }
195
+
196
+ /**@brief Return the inverse of this transform times the other transform
197
+ * @param t The other transform
198
+ * return this.inverse() * the other */
199
+ btTransform inverseTimes(const btTransform& t) const;
200
+
201
+ /**@brief Return the product of this transform and the other */
202
+ btTransform operator*(const btTransform& t) const;
203
+
204
+ /**@brief Return an identity transform */
205
+ static const btTransform& getIdentity()
206
+ {
207
+ static const btTransform identityTransform(btMatrix3x3::getIdentity());
208
+ return identityTransform;
209
+ }
210
+
211
+ void serialize(struct btTransformData& dataOut) const;
212
+
213
+ void serializeFloat(struct btTransformFloatData& dataOut) const;
214
+
215
+ void deSerialize(const struct btTransformData& dataIn);
216
+
217
+ void deSerializeDouble(const struct btTransformDoubleData& dataIn);
218
+
219
+ void deSerializeFloat(const struct btTransformFloatData& dataIn);
220
+
221
+ };
222
+
223
+
224
+ SIMD_FORCE_INLINE btVector3
225
+ btTransform::invXform(const btVector3& inVec) const
226
+ {
227
+ btVector3 v = inVec - m_origin;
228
+ return (m_basis.transpose() * v);
229
+ }
230
+
231
+ SIMD_FORCE_INLINE btTransform
232
+ btTransform::inverseTimes(const btTransform& t) const
233
+ {
234
+ btVector3 v = t.getOrigin() - m_origin;
235
+ return btTransform(m_basis.transposeTimes(t.m_basis),
236
+ v * m_basis);
237
+ }
238
+
239
+ SIMD_FORCE_INLINE btTransform
240
+ btTransform::operator*(const btTransform& t) const
241
+ {
242
+ return btTransform(m_basis * t.m_basis,
243
+ (*this)(t.m_origin));
244
+ }
245
+
246
+ /**@brief Test if two transforms have all elements equal */
247
+ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
248
+ {
249
+ return ( t1.getBasis() == t2.getBasis() &&
250
+ t1.getOrigin() == t2.getOrigin() );
251
+ }
252
+
253
+
254
+ ///for serialization
255
+ struct btTransformFloatData
256
+ {
257
+ btMatrix3x3FloatData m_basis;
258
+ btVector3FloatData m_origin;
259
+ };
260
+
261
+ struct btTransformDoubleData
262
+ {
263
+ btMatrix3x3DoubleData m_basis;
264
+ btVector3DoubleData m_origin;
265
+ };
266
+
267
+
268
+
269
+ SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
270
+ {
271
+ m_basis.serialize(dataOut.m_basis);
272
+ m_origin.serialize(dataOut.m_origin);
273
+ }
274
+
275
+ SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
276
+ {
277
+ m_basis.serializeFloat(dataOut.m_basis);
278
+ m_origin.serializeFloat(dataOut.m_origin);
279
+ }
280
+
281
+
282
+ SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
283
+ {
284
+ m_basis.deSerialize(dataIn.m_basis);
285
+ m_origin.deSerialize(dataIn.m_origin);
286
+ }
287
+
288
+ SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
289
+ {
290
+ m_basis.deSerializeFloat(dataIn.m_basis);
291
+ m_origin.deSerializeFloat(dataIn.m_origin);
292
+ }
293
+
294
+ SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
295
+ {
296
+ m_basis.deSerializeDouble(dataIn.m_basis);
297
+ m_origin.deSerializeDouble(dataIn.m_origin);
298
+ }
299
+
300
+
301
+ #endif //BT_TRANSFORM_H
302
+
303
+
304
+
305
+
306
+
307
+
@@ -0,0 +1,228 @@
1
+ /*
2
+ Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3
+
4
+ This software is provided 'as-is', without any express or implied warranty.
5
+ In no event will the authors be held liable for any damages arising from the use of this software.
6
+ Permission is granted to anyone to use this software for any purpose,
7
+ including commercial applications, and to alter it and redistribute it freely,
8
+ subject to the following restrictions:
9
+
10
+ 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.
11
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12
+ 3. This notice may not be removed or altered from any source distribution.
13
+ */
14
+
15
+
16
+ #ifndef BT_TRANSFORM_UTIL_H
17
+ #define BT_TRANSFORM_UTIL_H
18
+
19
+ #include "btTransform.h"
20
+ #define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
21
+
22
+
23
+
24
+
25
+ SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
26
+ {
27
+ return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
28
+ supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
29
+ supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z());
30
+ }
31
+
32
+
33
+
34
+
35
+
36
+
37
+ /// Utils related to temporal transforms
38
+ class btTransformUtil
39
+ {
40
+
41
+ public:
42
+
43
+ static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
44
+ {
45
+ predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
46
+ // #define QUATERNION_DERIVATIVE
47
+ #ifdef QUATERNION_DERIVATIVE
48
+ btQuaternion predictedOrn = curTrans.getRotation();
49
+ predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
50
+ predictedOrn.normalize();
51
+ #else
52
+ //Exponential map
53
+ //google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
54
+
55
+ btVector3 axis;
56
+ btScalar fAngle = angvel.length();
57
+ //limit the angular motion
58
+ if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
59
+ {
60
+ fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
61
+ }
62
+
63
+ if ( fAngle < btScalar(0.001) )
64
+ {
65
+ // use Taylor's expansions of sync function
66
+ axis = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
67
+ }
68
+ else
69
+ {
70
+ // sync(fAngle) = sin(c*fAngle)/t
71
+ axis = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
72
+ }
73
+ btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
74
+ btQuaternion orn0 = curTrans.getRotation();
75
+
76
+ btQuaternion predictedOrn = dorn * orn0;
77
+ predictedOrn.normalize();
78
+ #endif
79
+ predictedTransform.setRotation(predictedOrn);
80
+ }
81
+
82
+ static void calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
83
+ {
84
+ linVel = (pos1 - pos0) / timeStep;
85
+ btVector3 axis;
86
+ btScalar angle;
87
+ if (orn0 != orn1)
88
+ {
89
+ calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
90
+ angVel = axis * angle / timeStep;
91
+ } else
92
+ {
93
+ angVel.setValue(0,0,0);
94
+ }
95
+ }
96
+
97
+ static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
98
+ {
99
+ btQuaternion orn1 = orn0.nearest(orn1a);
100
+ btQuaternion dorn = orn1 * orn0.inverse();
101
+ angle = dorn.getAngle();
102
+ axis = btVector3(dorn.x(),dorn.y(),dorn.z());
103
+ axis[3] = btScalar(0.);
104
+ //check for axis length
105
+ btScalar len = axis.length2();
106
+ if (len < SIMD_EPSILON*SIMD_EPSILON)
107
+ axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
108
+ else
109
+ axis /= btSqrt(len);
110
+ }
111
+
112
+ static void calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
113
+ {
114
+ linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
115
+ btVector3 axis;
116
+ btScalar angle;
117
+ calculateDiffAxisAngle(transform0,transform1,axis,angle);
118
+ angVel = axis * angle / timeStep;
119
+ }
120
+
121
+ static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
122
+ {
123
+ btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
124
+ btQuaternion dorn;
125
+ dmat.getRotation(dorn);
126
+
127
+ ///floating point inaccuracy can lead to w component > 1..., which breaks
128
+ dorn.normalize();
129
+
130
+ angle = dorn.getAngle();
131
+ axis = btVector3(dorn.x(),dorn.y(),dorn.z());
132
+ axis[3] = btScalar(0.);
133
+ //check for axis length
134
+ btScalar len = axis.length2();
135
+ if (len < SIMD_EPSILON*SIMD_EPSILON)
136
+ axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
137
+ else
138
+ axis /= btSqrt(len);
139
+ }
140
+
141
+ };
142
+
143
+
144
+ ///The btConvexSeparatingDistanceUtil can help speed up convex collision detection
145
+ ///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
146
+ class btConvexSeparatingDistanceUtil
147
+ {
148
+ btQuaternion m_ornA;
149
+ btQuaternion m_ornB;
150
+ btVector3 m_posA;
151
+ btVector3 m_posB;
152
+
153
+ btVector3 m_separatingNormal;
154
+
155
+ btScalar m_boundingRadiusA;
156
+ btScalar m_boundingRadiusB;
157
+ btScalar m_separatingDistance;
158
+
159
+ public:
160
+
161
+ btConvexSeparatingDistanceUtil(btScalar boundingRadiusA,btScalar boundingRadiusB)
162
+ :m_boundingRadiusA(boundingRadiusA),
163
+ m_boundingRadiusB(boundingRadiusB),
164
+ m_separatingDistance(0.f)
165
+ {
166
+ }
167
+
168
+ btScalar getConservativeSeparatingDistance()
169
+ {
170
+ return m_separatingDistance;
171
+ }
172
+
173
+ void updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
174
+ {
175
+ const btVector3& toPosA = transA.getOrigin();
176
+ const btVector3& toPosB = transB.getOrigin();
177
+ btQuaternion toOrnA = transA.getRotation();
178
+ btQuaternion toOrnB = transB.getRotation();
179
+
180
+ if (m_separatingDistance>0.f)
181
+ {
182
+
183
+
184
+ btVector3 linVelA,angVelA,linVelB,angVelB;
185
+ btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
186
+ btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
187
+ btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
188
+ btVector3 relLinVel = (linVelB-linVelA);
189
+ btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
190
+ if (relLinVelocLength<0.f)
191
+ {
192
+ relLinVelocLength = 0.f;
193
+ }
194
+
195
+ btScalar projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
196
+ m_separatingDistance -= projectedMotion;
197
+ }
198
+
199
+ m_posA = toPosA;
200
+ m_posB = toPosB;
201
+ m_ornA = toOrnA;
202
+ m_ornB = toOrnB;
203
+ }
204
+
205
+ void initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
206
+ {
207
+ m_separatingDistance = separatingDistance;
208
+
209
+ if (m_separatingDistance>0.f)
210
+ {
211
+ m_separatingNormal = separatingVector;
212
+
213
+ const btVector3& toPosA = transA.getOrigin();
214
+ const btVector3& toPosB = transB.getOrigin();
215
+ btQuaternion toOrnA = transA.getRotation();
216
+ btQuaternion toOrnB = transB.getRotation();
217
+ m_posA = toPosA;
218
+ m_posB = toPosB;
219
+ m_ornA = toOrnA;
220
+ m_ornB = toOrnB;
221
+ }
222
+ }
223
+
224
+ };
225
+
226
+
227
+ #endif //BT_TRANSFORM_UTIL_H
228
+