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 +1,718 @@
1
+ /*
2
+ * Box-Box collision detection re-distributed under the ZLib license with permission from Russell L. Smith
3
+ * Original version is from Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.
4
+ * All rights reserved. Email: russ@q12.org Web: www.q12.org
5
+ Bullet Continuous Collision Detection and Physics Library
6
+ Bullet is Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
7
+
8
+ This software is provided 'as-is', without any express or implied warranty.
9
+ In no event will the authors be held liable for any damages arising from the use of this software.
10
+ Permission is granted to anyone to use this software for any purpose,
11
+ including commercial applications, and to alter it and redistribute it freely,
12
+ subject to the following restrictions:
13
+
14
+ 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.
15
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
16
+ 3. This notice may not be removed or altered from any source distribution.
17
+ */
18
+
19
+ ///ODE box-box collision detection is adapted to work with Bullet
20
+
21
+ #include "btBoxBoxDetector.h"
22
+ #include "BulletCollision/CollisionShapes/btBoxShape.h"
23
+
24
+ #include <float.h>
25
+ #include <string.h>
26
+
27
+ btBoxBoxDetector::btBoxBoxDetector(btBoxShape* box1,btBoxShape* box2)
28
+ : m_box1(box1),
29
+ m_box2(box2)
30
+ {
31
+
32
+ }
33
+
34
+
35
+ // given two boxes (p1,R1,side1) and (p2,R2,side2), collide them together and
36
+ // generate contact points. this returns 0 if there is no contact otherwise
37
+ // it returns the number of contacts generated.
38
+ // `normal' returns the contact normal.
39
+ // `depth' returns the maximum penetration depth along that normal.
40
+ // `return_code' returns a number indicating the type of contact that was
41
+ // detected:
42
+ // 1,2,3 = box 2 intersects with a face of box 1
43
+ // 4,5,6 = box 1 intersects with a face of box 2
44
+ // 7..15 = edge-edge contact
45
+ // `maxc' is the maximum number of contacts allowed to be generated, i.e.
46
+ // the size of the `contact' array.
47
+ // `contact' and `skip' are the contact array information provided to the
48
+ // collision functions. this function only fills in the position and depth
49
+ // fields.
50
+ struct dContactGeom;
51
+ #define dDOTpq(a,b,p,q) ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])
52
+ #define dInfinity FLT_MAX
53
+
54
+
55
+ /*PURE_INLINE btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
56
+ PURE_INLINE btScalar dDOT13 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,3); }
57
+ PURE_INLINE btScalar dDOT31 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,1); }
58
+ PURE_INLINE btScalar dDOT33 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,3,3); }
59
+ */
60
+ static btScalar dDOT (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,1); }
61
+ static btScalar dDOT44 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,4); }
62
+ static btScalar dDOT41 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,4,1); }
63
+ static btScalar dDOT14 (const btScalar *a, const btScalar *b) { return dDOTpq(a,b,1,4); }
64
+ #define dMULTIPLYOP1_331(A,op,B,C) \
65
+ {\
66
+ (A)[0] op dDOT41((B),(C)); \
67
+ (A)[1] op dDOT41((B+1),(C)); \
68
+ (A)[2] op dDOT41((B+2),(C)); \
69
+ }
70
+
71
+ #define dMULTIPLYOP0_331(A,op,B,C) \
72
+ { \
73
+ (A)[0] op dDOT((B),(C)); \
74
+ (A)[1] op dDOT((B+4),(C)); \
75
+ (A)[2] op dDOT((B+8),(C)); \
76
+ }
77
+
78
+ #define dMULTIPLY1_331(A,B,C) dMULTIPLYOP1_331(A,=,B,C)
79
+ #define dMULTIPLY0_331(A,B,C) dMULTIPLYOP0_331(A,=,B,C)
80
+
81
+ typedef btScalar dMatrix3[4*3];
82
+
83
+ void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
84
+ const btVector3& pb, const btVector3& ub,
85
+ btScalar *alpha, btScalar *beta);
86
+ void dLineClosestApproach (const btVector3& pa, const btVector3& ua,
87
+ const btVector3& pb, const btVector3& ub,
88
+ btScalar *alpha, btScalar *beta)
89
+ {
90
+ btVector3 p;
91
+ p[0] = pb[0] - pa[0];
92
+ p[1] = pb[1] - pa[1];
93
+ p[2] = pb[2] - pa[2];
94
+ btScalar uaub = dDOT(ua,ub);
95
+ btScalar q1 = dDOT(ua,p);
96
+ btScalar q2 = -dDOT(ub,p);
97
+ btScalar d = 1-uaub*uaub;
98
+ if (d <= btScalar(0.0001f)) {
99
+ // @@@ this needs to be made more robust
100
+ *alpha = 0;
101
+ *beta = 0;
102
+ }
103
+ else {
104
+ d = 1.f/d;
105
+ *alpha = (q1 + uaub*q2)*d;
106
+ *beta = (uaub*q1 + q2)*d;
107
+ }
108
+ }
109
+
110
+
111
+
112
+ // find all the intersection points between the 2D rectangle with vertices
113
+ // at (+/-h[0],+/-h[1]) and the 2D quadrilateral with vertices (p[0],p[1]),
114
+ // (p[2],p[3]),(p[4],p[5]),(p[6],p[7]).
115
+ //
116
+ // the intersection points are returned as x,y pairs in the 'ret' array.
117
+ // the number of intersection points is returned by the function (this will
118
+ // be in the range 0 to 8).
119
+
120
+ static int intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
121
+ {
122
+ // q (and r) contain nq (and nr) coordinate points for the current (and
123
+ // chopped) polygons
124
+ int nq=4,nr=0;
125
+ btScalar buffer[16];
126
+ btScalar *q = p;
127
+ btScalar *r = ret;
128
+ for (int dir=0; dir <= 1; dir++) {
129
+ // direction notation: xy[0] = x axis, xy[1] = y axis
130
+ for (int sign=-1; sign <= 1; sign += 2) {
131
+ // chop q along the line xy[dir] = sign*h[dir]
132
+ btScalar *pq = q;
133
+ btScalar *pr = r;
134
+ nr = 0;
135
+ for (int i=nq; i > 0; i--) {
136
+ // go through all points in q and all lines between adjacent points
137
+ if (sign*pq[dir] < h[dir]) {
138
+ // this point is inside the chopping line
139
+ pr[0] = pq[0];
140
+ pr[1] = pq[1];
141
+ pr += 2;
142
+ nr++;
143
+ if (nr & 8) {
144
+ q = r;
145
+ goto done;
146
+ }
147
+ }
148
+ btScalar *nextq = (i > 1) ? pq+2 : q;
149
+ if ((sign*pq[dir] < h[dir]) ^ (sign*nextq[dir] < h[dir])) {
150
+ // this line crosses the chopping line
151
+ pr[1-dir] = pq[1-dir] + (nextq[1-dir]-pq[1-dir]) /
152
+ (nextq[dir]-pq[dir]) * (sign*h[dir]-pq[dir]);
153
+ pr[dir] = sign*h[dir];
154
+ pr += 2;
155
+ nr++;
156
+ if (nr & 8) {
157
+ q = r;
158
+ goto done;
159
+ }
160
+ }
161
+ pq += 2;
162
+ }
163
+ q = r;
164
+ r = (q==ret) ? buffer : ret;
165
+ nq = nr;
166
+ }
167
+ }
168
+ done:
169
+ if (q != ret) memcpy (ret,q,nr*2*sizeof(btScalar));
170
+ return nr;
171
+ }
172
+
173
+
174
+ #define M__PI 3.14159265f
175
+
176
+ // given n points in the plane (array p, of size 2*n), generate m points that
177
+ // best represent the whole set. the definition of 'best' here is not
178
+ // predetermined - the idea is to select points that give good box-box
179
+ // collision detection behavior. the chosen point indexes are returned in the
180
+ // array iret (of size m). 'i0' is always the first entry in the array.
181
+ // n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
182
+ // in the range [0..n-1].
183
+
184
+ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[]);
185
+ void cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
186
+ {
187
+ // compute the centroid of the polygon in cx,cy
188
+ int i,j;
189
+ btScalar a,cx,cy,q;
190
+ if (n==1) {
191
+ cx = p[0];
192
+ cy = p[1];
193
+ }
194
+ else if (n==2) {
195
+ cx = btScalar(0.5)*(p[0] + p[2]);
196
+ cy = btScalar(0.5)*(p[1] + p[3]);
197
+ }
198
+ else {
199
+ a = 0;
200
+ cx = 0;
201
+ cy = 0;
202
+ for (i=0; i<(n-1); i++) {
203
+ q = p[i*2]*p[i*2+3] - p[i*2+2]*p[i*2+1];
204
+ a += q;
205
+ cx += q*(p[i*2]+p[i*2+2]);
206
+ cy += q*(p[i*2+1]+p[i*2+3]);
207
+ }
208
+ q = p[n*2-2]*p[1] - p[0]*p[n*2-1];
209
+ if (btFabs(a+q) > SIMD_EPSILON)
210
+ {
211
+ a = 1.f/(btScalar(3.0)*(a+q));
212
+ } else
213
+ {
214
+ a=BT_LARGE_FLOAT;
215
+ }
216
+ cx = a*(cx + q*(p[n*2-2]+p[0]));
217
+ cy = a*(cy + q*(p[n*2-1]+p[1]));
218
+ }
219
+
220
+ // compute the angle of each point w.r.t. the centroid
221
+ btScalar A[8];
222
+ for (i=0; i<n; i++) A[i] = btAtan2(p[i*2+1]-cy,p[i*2]-cx);
223
+
224
+ // search for points that have angles closest to A[i0] + i*(2*pi/m).
225
+ int avail[8];
226
+ for (i=0; i<n; i++) avail[i] = 1;
227
+ avail[i0] = 0;
228
+ iret[0] = i0;
229
+ iret++;
230
+ for (j=1; j<m; j++) {
231
+ a = btScalar(j)*(2*M__PI/m) + A[i0];
232
+ if (a > M__PI) a -= 2*M__PI;
233
+ btScalar maxdiff=1e9,diff;
234
+
235
+ *iret = i0; // iret is not allowed to keep this value, but it sometimes does, when diff=#QNAN0
236
+
237
+ for (i=0; i<n; i++) {
238
+ if (avail[i]) {
239
+ diff = btFabs (A[i]-a);
240
+ if (diff > M__PI) diff = 2*M__PI - diff;
241
+ if (diff < maxdiff) {
242
+ maxdiff = diff;
243
+ *iret = i;
244
+ }
245
+ }
246
+ }
247
+ #if defined(DEBUG) || defined (_DEBUG)
248
+ btAssert (*iret != i0); // ensure iret got set
249
+ #endif
250
+ avail[*iret] = 0;
251
+ iret++;
252
+ }
253
+ }
254
+
255
+
256
+
257
+ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
258
+ const btVector3& side1, const btVector3& p2,
259
+ const dMatrix3 R2, const btVector3& side2,
260
+ btVector3& normal, btScalar *depth, int *return_code,
261
+ int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output);
262
+ int dBoxBox2 (const btVector3& p1, const dMatrix3 R1,
263
+ const btVector3& side1, const btVector3& p2,
264
+ const dMatrix3 R2, const btVector3& side2,
265
+ btVector3& normal, btScalar *depth, int *return_code,
266
+ int maxc, dContactGeom * /*contact*/, int /*skip*/,btDiscreteCollisionDetectorInterface::Result& output)
267
+ {
268
+ const btScalar fudge_factor = btScalar(1.05);
269
+ btVector3 p,pp,normalC(0.f,0.f,0.f);
270
+ const btScalar *normalR = 0;
271
+ btScalar A[3],B[3],R11,R12,R13,R21,R22,R23,R31,R32,R33,
272
+ Q11,Q12,Q13,Q21,Q22,Q23,Q31,Q32,Q33,s,s2,l;
273
+ int i,j,invert_normal,code;
274
+
275
+ // get vector from centers of box 1 to box 2, relative to box 1
276
+ p = p2 - p1;
277
+ dMULTIPLY1_331 (pp,R1,p); // get pp = p relative to body 1
278
+
279
+ // get side lengths / 2
280
+ A[0] = side1[0]*btScalar(0.5);
281
+ A[1] = side1[1]*btScalar(0.5);
282
+ A[2] = side1[2]*btScalar(0.5);
283
+ B[0] = side2[0]*btScalar(0.5);
284
+ B[1] = side2[1]*btScalar(0.5);
285
+ B[2] = side2[2]*btScalar(0.5);
286
+
287
+ // Rij is R1'*R2, i.e. the relative rotation between R1 and R2
288
+ R11 = dDOT44(R1+0,R2+0); R12 = dDOT44(R1+0,R2+1); R13 = dDOT44(R1+0,R2+2);
289
+ R21 = dDOT44(R1+1,R2+0); R22 = dDOT44(R1+1,R2+1); R23 = dDOT44(R1+1,R2+2);
290
+ R31 = dDOT44(R1+2,R2+0); R32 = dDOT44(R1+2,R2+1); R33 = dDOT44(R1+2,R2+2);
291
+
292
+ Q11 = btFabs(R11); Q12 = btFabs(R12); Q13 = btFabs(R13);
293
+ Q21 = btFabs(R21); Q22 = btFabs(R22); Q23 = btFabs(R23);
294
+ Q31 = btFabs(R31); Q32 = btFabs(R32); Q33 = btFabs(R33);
295
+
296
+ // for all 15 possible separating axes:
297
+ // * see if the axis separates the boxes. if so, return 0.
298
+ // * find the depth of the penetration along the separating axis (s2)
299
+ // * if this is the largest depth so far, record it.
300
+ // the normal vector will be set to the separating axis with the smallest
301
+ // depth. note: normalR is set to point to a column of R1 or R2 if that is
302
+ // the smallest depth normal so far. otherwise normalR is 0 and normalC is
303
+ // set to a vector relative to body 1. invert_normal is 1 if the sign of
304
+ // the normal should be flipped.
305
+
306
+ #define TST(expr1,expr2,norm,cc) \
307
+ s2 = btFabs(expr1) - (expr2); \
308
+ if (s2 > 0) return 0; \
309
+ if (s2 > s) { \
310
+ s = s2; \
311
+ normalR = norm; \
312
+ invert_normal = ((expr1) < 0); \
313
+ code = (cc); \
314
+ }
315
+
316
+ s = -dInfinity;
317
+ invert_normal = 0;
318
+ code = 0;
319
+
320
+ // separating axis = u1,u2,u3
321
+ TST (pp[0],(A[0] + B[0]*Q11 + B[1]*Q12 + B[2]*Q13),R1+0,1);
322
+ TST (pp[1],(A[1] + B[0]*Q21 + B[1]*Q22 + B[2]*Q23),R1+1,2);
323
+ TST (pp[2],(A[2] + B[0]*Q31 + B[1]*Q32 + B[2]*Q33),R1+2,3);
324
+
325
+ // separating axis = v1,v2,v3
326
+ TST (dDOT41(R2+0,p),(A[0]*Q11 + A[1]*Q21 + A[2]*Q31 + B[0]),R2+0,4);
327
+ TST (dDOT41(R2+1,p),(A[0]*Q12 + A[1]*Q22 + A[2]*Q32 + B[1]),R2+1,5);
328
+ TST (dDOT41(R2+2,p),(A[0]*Q13 + A[1]*Q23 + A[2]*Q33 + B[2]),R2+2,6);
329
+
330
+ // note: cross product axes need to be scaled when s is computed.
331
+ // normal (n1,n2,n3) is relative to box 1.
332
+ #undef TST
333
+ #define TST(expr1,expr2,n1,n2,n3,cc) \
334
+ s2 = btFabs(expr1) - (expr2); \
335
+ if (s2 > SIMD_EPSILON) return 0; \
336
+ l = btSqrt((n1)*(n1) + (n2)*(n2) + (n3)*(n3)); \
337
+ if (l > SIMD_EPSILON) { \
338
+ s2 /= l; \
339
+ if (s2*fudge_factor > s) { \
340
+ s = s2; \
341
+ normalR = 0; \
342
+ normalC[0] = (n1)/l; normalC[1] = (n2)/l; normalC[2] = (n3)/l; \
343
+ invert_normal = ((expr1) < 0); \
344
+ code = (cc); \
345
+ } \
346
+ }
347
+
348
+ btScalar fudge2 (1.0e-5f);
349
+
350
+ Q11 += fudge2;
351
+ Q12 += fudge2;
352
+ Q13 += fudge2;
353
+
354
+ Q21 += fudge2;
355
+ Q22 += fudge2;
356
+ Q23 += fudge2;
357
+
358
+ Q31 += fudge2;
359
+ Q32 += fudge2;
360
+ Q33 += fudge2;
361
+
362
+ // separating axis = u1 x (v1,v2,v3)
363
+ TST(pp[2]*R21-pp[1]*R31,(A[1]*Q31+A[2]*Q21+B[1]*Q13+B[2]*Q12),0,-R31,R21,7);
364
+ TST(pp[2]*R22-pp[1]*R32,(A[1]*Q32+A[2]*Q22+B[0]*Q13+B[2]*Q11),0,-R32,R22,8);
365
+ TST(pp[2]*R23-pp[1]*R33,(A[1]*Q33+A[2]*Q23+B[0]*Q12+B[1]*Q11),0,-R33,R23,9);
366
+
367
+ // separating axis = u2 x (v1,v2,v3)
368
+ TST(pp[0]*R31-pp[2]*R11,(A[0]*Q31+A[2]*Q11+B[1]*Q23+B[2]*Q22),R31,0,-R11,10);
369
+ TST(pp[0]*R32-pp[2]*R12,(A[0]*Q32+A[2]*Q12+B[0]*Q23+B[2]*Q21),R32,0,-R12,11);
370
+ TST(pp[0]*R33-pp[2]*R13,(A[0]*Q33+A[2]*Q13+B[0]*Q22+B[1]*Q21),R33,0,-R13,12);
371
+
372
+ // separating axis = u3 x (v1,v2,v3)
373
+ TST(pp[1]*R11-pp[0]*R21,(A[0]*Q21+A[1]*Q11+B[1]*Q33+B[2]*Q32),-R21,R11,0,13);
374
+ TST(pp[1]*R12-pp[0]*R22,(A[0]*Q22+A[1]*Q12+B[0]*Q33+B[2]*Q31),-R22,R12,0,14);
375
+ TST(pp[1]*R13-pp[0]*R23,(A[0]*Q23+A[1]*Q13+B[0]*Q32+B[1]*Q31),-R23,R13,0,15);
376
+
377
+ #undef TST
378
+
379
+ if (!code) return 0;
380
+
381
+ // if we get to this point, the boxes interpenetrate. compute the normal
382
+ // in global coordinates.
383
+ if (normalR) {
384
+ normal[0] = normalR[0];
385
+ normal[1] = normalR[4];
386
+ normal[2] = normalR[8];
387
+ }
388
+ else {
389
+ dMULTIPLY0_331 (normal,R1,normalC);
390
+ }
391
+ if (invert_normal) {
392
+ normal[0] = -normal[0];
393
+ normal[1] = -normal[1];
394
+ normal[2] = -normal[2];
395
+ }
396
+ *depth = -s;
397
+
398
+ // compute contact point(s)
399
+
400
+ if (code > 6) {
401
+ // an edge from box 1 touches an edge from box 2.
402
+ // find a point pa on the intersecting edge of box 1
403
+ btVector3 pa;
404
+ btScalar sign;
405
+ for (i=0; i<3; i++) pa[i] = p1[i];
406
+ for (j=0; j<3; j++) {
407
+ sign = (dDOT14(normal,R1+j) > 0) ? btScalar(1.0) : btScalar(-1.0);
408
+ for (i=0; i<3; i++) pa[i] += sign * A[j] * R1[i*4+j];
409
+ }
410
+
411
+ // find a point pb on the intersecting edge of box 2
412
+ btVector3 pb;
413
+ for (i=0; i<3; i++) pb[i] = p2[i];
414
+ for (j=0; j<3; j++) {
415
+ sign = (dDOT14(normal,R2+j) > 0) ? btScalar(-1.0) : btScalar(1.0);
416
+ for (i=0; i<3; i++) pb[i] += sign * B[j] * R2[i*4+j];
417
+ }
418
+
419
+ btScalar alpha,beta;
420
+ btVector3 ua,ub;
421
+ for (i=0; i<3; i++) ua[i] = R1[((code)-7)/3 + i*4];
422
+ for (i=0; i<3; i++) ub[i] = R2[((code)-7)%3 + i*4];
423
+
424
+ dLineClosestApproach (pa,ua,pb,ub,&alpha,&beta);
425
+ for (i=0; i<3; i++) pa[i] += ua[i]*alpha;
426
+ for (i=0; i<3; i++) pb[i] += ub[i]*beta;
427
+
428
+ {
429
+
430
+ //contact[0].pos[i] = btScalar(0.5)*(pa[i]+pb[i]);
431
+ //contact[0].depth = *depth;
432
+ btVector3 pointInWorld;
433
+
434
+ #ifdef USE_CENTER_POINT
435
+ for (i=0; i<3; i++)
436
+ pointInWorld[i] = (pa[i]+pb[i])*btScalar(0.5);
437
+ output.addContactPoint(-normal,pointInWorld,-*depth);
438
+ #else
439
+ output.addContactPoint(-normal,pb,-*depth);
440
+
441
+ #endif //
442
+ *return_code = code;
443
+ }
444
+ return 1;
445
+ }
446
+
447
+ // okay, we have a face-something intersection (because the separating
448
+ // axis is perpendicular to a face). define face 'a' to be the reference
449
+ // face (i.e. the normal vector is perpendicular to this) and face 'b' to be
450
+ // the incident face (the closest face of the other box).
451
+
452
+ const btScalar *Ra,*Rb,*pa,*pb,*Sa,*Sb;
453
+ if (code <= 3) {
454
+ Ra = R1;
455
+ Rb = R2;
456
+ pa = p1;
457
+ pb = p2;
458
+ Sa = A;
459
+ Sb = B;
460
+ }
461
+ else {
462
+ Ra = R2;
463
+ Rb = R1;
464
+ pa = p2;
465
+ pb = p1;
466
+ Sa = B;
467
+ Sb = A;
468
+ }
469
+
470
+ // nr = normal vector of reference face dotted with axes of incident box.
471
+ // anr = absolute values of nr.
472
+ btVector3 normal2,nr,anr;
473
+ if (code <= 3) {
474
+ normal2[0] = normal[0];
475
+ normal2[1] = normal[1];
476
+ normal2[2] = normal[2];
477
+ }
478
+ else {
479
+ normal2[0] = -normal[0];
480
+ normal2[1] = -normal[1];
481
+ normal2[2] = -normal[2];
482
+ }
483
+ dMULTIPLY1_331 (nr,Rb,normal2);
484
+ anr[0] = btFabs (nr[0]);
485
+ anr[1] = btFabs (nr[1]);
486
+ anr[2] = btFabs (nr[2]);
487
+
488
+ // find the largest compontent of anr: this corresponds to the normal
489
+ // for the indident face. the other axis numbers of the indicent face
490
+ // are stored in a1,a2.
491
+ int lanr,a1,a2;
492
+ if (anr[1] > anr[0]) {
493
+ if (anr[1] > anr[2]) {
494
+ a1 = 0;
495
+ lanr = 1;
496
+ a2 = 2;
497
+ }
498
+ else {
499
+ a1 = 0;
500
+ a2 = 1;
501
+ lanr = 2;
502
+ }
503
+ }
504
+ else {
505
+ if (anr[0] > anr[2]) {
506
+ lanr = 0;
507
+ a1 = 1;
508
+ a2 = 2;
509
+ }
510
+ else {
511
+ a1 = 0;
512
+ a2 = 1;
513
+ lanr = 2;
514
+ }
515
+ }
516
+
517
+ // compute center point of incident face, in reference-face coordinates
518
+ btVector3 center;
519
+ if (nr[lanr] < 0) {
520
+ for (i=0; i<3; i++) center[i] = pb[i] - pa[i] + Sb[lanr] * Rb[i*4+lanr];
521
+ }
522
+ else {
523
+ for (i=0; i<3; i++) center[i] = pb[i] - pa[i] - Sb[lanr] * Rb[i*4+lanr];
524
+ }
525
+
526
+ // find the normal and non-normal axis numbers of the reference box
527
+ int codeN,code1,code2;
528
+ if (code <= 3) codeN = code-1; else codeN = code-4;
529
+ if (codeN==0) {
530
+ code1 = 1;
531
+ code2 = 2;
532
+ }
533
+ else if (codeN==1) {
534
+ code1 = 0;
535
+ code2 = 2;
536
+ }
537
+ else {
538
+ code1 = 0;
539
+ code2 = 1;
540
+ }
541
+
542
+ // find the four corners of the incident face, in reference-face coordinates
543
+ btScalar quad[8]; // 2D coordinate of incident face (x,y pairs)
544
+ btScalar c1,c2,m11,m12,m21,m22;
545
+ c1 = dDOT14 (center,Ra+code1);
546
+ c2 = dDOT14 (center,Ra+code2);
547
+ // optimize this? - we have already computed this data above, but it is not
548
+ // stored in an easy-to-index format. for now it's quicker just to recompute
549
+ // the four dot products.
550
+ m11 = dDOT44 (Ra+code1,Rb+a1);
551
+ m12 = dDOT44 (Ra+code1,Rb+a2);
552
+ m21 = dDOT44 (Ra+code2,Rb+a1);
553
+ m22 = dDOT44 (Ra+code2,Rb+a2);
554
+ {
555
+ btScalar k1 = m11*Sb[a1];
556
+ btScalar k2 = m21*Sb[a1];
557
+ btScalar k3 = m12*Sb[a2];
558
+ btScalar k4 = m22*Sb[a2];
559
+ quad[0] = c1 - k1 - k3;
560
+ quad[1] = c2 - k2 - k4;
561
+ quad[2] = c1 - k1 + k3;
562
+ quad[3] = c2 - k2 + k4;
563
+ quad[4] = c1 + k1 + k3;
564
+ quad[5] = c2 + k2 + k4;
565
+ quad[6] = c1 + k1 - k3;
566
+ quad[7] = c2 + k2 - k4;
567
+ }
568
+
569
+ // find the size of the reference face
570
+ btScalar rect[2];
571
+ rect[0] = Sa[code1];
572
+ rect[1] = Sa[code2];
573
+
574
+ // intersect the incident and reference faces
575
+ btScalar ret[16];
576
+ int n = intersectRectQuad2 (rect,quad,ret);
577
+ if (n < 1) return 0; // this should never happen
578
+
579
+ // convert the intersection points into reference-face coordinates,
580
+ // and compute the contact position and depth for each point. only keep
581
+ // those points that have a positive (penetrating) depth. delete points in
582
+ // the 'ret' array as necessary so that 'point' and 'ret' correspond.
583
+ btScalar point[3*8]; // penetrating contact points
584
+ btScalar dep[8]; // depths for those points
585
+ btScalar det1 = 1.f/(m11*m22 - m12*m21);
586
+ m11 *= det1;
587
+ m12 *= det1;
588
+ m21 *= det1;
589
+ m22 *= det1;
590
+ int cnum = 0; // number of penetrating contact points found
591
+ for (j=0; j < n; j++) {
592
+ btScalar k1 = m22*(ret[j*2]-c1) - m12*(ret[j*2+1]-c2);
593
+ btScalar k2 = -m21*(ret[j*2]-c1) + m11*(ret[j*2+1]-c2);
594
+ for (i=0; i<3; i++) point[cnum*3+i] =
595
+ center[i] + k1*Rb[i*4+a1] + k2*Rb[i*4+a2];
596
+ dep[cnum] = Sa[codeN] - dDOT(normal2,point+cnum*3);
597
+ if (dep[cnum] >= 0) {
598
+ ret[cnum*2] = ret[j*2];
599
+ ret[cnum*2+1] = ret[j*2+1];
600
+ cnum++;
601
+ }
602
+ }
603
+ if (cnum < 1) return 0; // this should never happen
604
+
605
+ // we can't generate more contacts than we actually have
606
+ if (maxc > cnum) maxc = cnum;
607
+ if (maxc < 1) maxc = 1;
608
+
609
+ if (cnum <= maxc) {
610
+
611
+ if (code<4)
612
+ {
613
+ // we have less contacts than we need, so we use them all
614
+ for (j=0; j < cnum; j++)
615
+ {
616
+ btVector3 pointInWorld;
617
+ for (i=0; i<3; i++)
618
+ pointInWorld[i] = point[j*3+i] + pa[i];
619
+ output.addContactPoint(-normal,pointInWorld,-dep[j]);
620
+
621
+ }
622
+ } else
623
+ {
624
+ // we have less contacts than we need, so we use them all
625
+ for (j=0; j < cnum; j++)
626
+ {
627
+ btVector3 pointInWorld;
628
+ for (i=0; i<3; i++)
629
+ pointInWorld[i] = point[j*3+i] + pa[i]-normal[i]*dep[j];
630
+ //pointInWorld[i] = point[j*3+i] + pa[i];
631
+ output.addContactPoint(-normal,pointInWorld,-dep[j]);
632
+ }
633
+ }
634
+ }
635
+ else {
636
+ // we have more contacts than are wanted, some of them must be culled.
637
+ // find the deepest point, it is always the first contact.
638
+ int i1 = 0;
639
+ btScalar maxdepth = dep[0];
640
+ for (i=1; i<cnum; i++) {
641
+ if (dep[i] > maxdepth) {
642
+ maxdepth = dep[i];
643
+ i1 = i;
644
+ }
645
+ }
646
+
647
+ int iret[8];
648
+ cullPoints2 (cnum,ret,maxc,i1,iret);
649
+
650
+ for (j=0; j < maxc; j++) {
651
+ // dContactGeom *con = CONTACT(contact,skip*j);
652
+ // for (i=0; i<3; i++) con->pos[i] = point[iret[j]*3+i] + pa[i];
653
+ // con->depth = dep[iret[j]];
654
+
655
+ btVector3 posInWorld;
656
+ for (i=0; i<3; i++)
657
+ posInWorld[i] = point[iret[j]*3+i] + pa[i];
658
+ if (code<4)
659
+ {
660
+ output.addContactPoint(-normal,posInWorld,-dep[iret[j]]);
661
+ } else
662
+ {
663
+ output.addContactPoint(-normal,posInWorld-normal*dep[iret[j]],-dep[iret[j]]);
664
+ }
665
+ }
666
+ cnum = maxc;
667
+ }
668
+
669
+ *return_code = code;
670
+ return cnum;
671
+ }
672
+
673
+ void btBoxBoxDetector::getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* /*debugDraw*/,bool /*swapResults*/)
674
+ {
675
+
676
+ const btTransform& transformA = input.m_transformA;
677
+ const btTransform& transformB = input.m_transformB;
678
+
679
+ int skip = 0;
680
+ dContactGeom *contact = 0;
681
+
682
+ dMatrix3 R1;
683
+ dMatrix3 R2;
684
+
685
+ for (int j=0;j<3;j++)
686
+ {
687
+ R1[0+4*j] = transformA.getBasis()[j].x();
688
+ R2[0+4*j] = transformB.getBasis()[j].x();
689
+
690
+ R1[1+4*j] = transformA.getBasis()[j].y();
691
+ R2[1+4*j] = transformB.getBasis()[j].y();
692
+
693
+
694
+ R1[2+4*j] = transformA.getBasis()[j].z();
695
+ R2[2+4*j] = transformB.getBasis()[j].z();
696
+
697
+ }
698
+
699
+
700
+
701
+ btVector3 normal;
702
+ btScalar depth;
703
+ int return_code;
704
+ int maxc = 4;
705
+
706
+
707
+ dBoxBox2 (transformA.getOrigin(),
708
+ R1,
709
+ 2.f*m_box1->getHalfExtentsWithMargin(),
710
+ transformB.getOrigin(),
711
+ R2,
712
+ 2.f*m_box2->getHalfExtentsWithMargin(),
713
+ normal, &depth, &return_code,
714
+ maxc, contact, skip,
715
+ output
716
+ );
717
+
718
+ }