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 +1,353 @@
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
+
16
+ #include "BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h"
17
+ #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
18
+ #include "BulletCollision/CollisionShapes/btCompoundShape.h"
19
+ #include "BulletCollision/BroadphaseCollision/btDbvt.h"
20
+ #include "LinearMath/btIDebugDraw.h"
21
+ #include "LinearMath/btAabbUtil2.h"
22
+ #include "btManifoldResult.h"
23
+
24
+ btCompoundCollisionAlgorithm::btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped)
25
+ :btActivatingCollisionAlgorithm(ci,body0,body1),
26
+ m_isSwapped(isSwapped),
27
+ m_sharedManifold(ci.m_manifold)
28
+ {
29
+ m_ownsManifold = false;
30
+
31
+ btCollisionObject* colObj = m_isSwapped? body1 : body0;
32
+ btAssert (colObj->getCollisionShape()->isCompound());
33
+
34
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
35
+ m_compoundShapeRevision = compoundShape->getUpdateRevision();
36
+
37
+ preallocateChildAlgorithms(body0,body1);
38
+ }
39
+
40
+ void btCompoundCollisionAlgorithm::preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1)
41
+ {
42
+ btCollisionObject* colObj = m_isSwapped? body1 : body0;
43
+ btCollisionObject* otherObj = m_isSwapped? body0 : body1;
44
+ btAssert (colObj->getCollisionShape()->isCompound());
45
+
46
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
47
+
48
+ int numChildren = compoundShape->getNumChildShapes();
49
+ int i;
50
+
51
+ m_childCollisionAlgorithms.resize(numChildren);
52
+ for (i=0;i<numChildren;i++)
53
+ {
54
+ if (compoundShape->getDynamicAabbTree())
55
+ {
56
+ m_childCollisionAlgorithms[i] = 0;
57
+ } else
58
+ {
59
+ btCollisionShape* tmpShape = colObj->getCollisionShape();
60
+ btCollisionShape* childShape = compoundShape->getChildShape(i);
61
+ colObj->internalSetTemporaryCollisionShape( childShape );
62
+ m_childCollisionAlgorithms[i] = m_dispatcher->findAlgorithm(colObj,otherObj,m_sharedManifold);
63
+ colObj->internalSetTemporaryCollisionShape( tmpShape );
64
+ }
65
+ }
66
+ }
67
+
68
+ void btCompoundCollisionAlgorithm::removeChildAlgorithms()
69
+ {
70
+ int numChildren = m_childCollisionAlgorithms.size();
71
+ int i;
72
+ for (i=0;i<numChildren;i++)
73
+ {
74
+ if (m_childCollisionAlgorithms[i])
75
+ {
76
+ m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
77
+ m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
78
+ }
79
+ }
80
+ }
81
+
82
+ btCompoundCollisionAlgorithm::~btCompoundCollisionAlgorithm()
83
+ {
84
+ removeChildAlgorithms();
85
+ }
86
+
87
+
88
+
89
+
90
+ struct btCompoundLeafCallback : btDbvt::ICollide
91
+ {
92
+
93
+ public:
94
+
95
+ btCollisionObject* m_compoundColObj;
96
+ btCollisionObject* m_otherObj;
97
+ btDispatcher* m_dispatcher;
98
+ const btDispatcherInfo& m_dispatchInfo;
99
+ btManifoldResult* m_resultOut;
100
+ btCollisionAlgorithm** m_childCollisionAlgorithms;
101
+ btPersistentManifold* m_sharedManifold;
102
+
103
+
104
+
105
+
106
+ btCompoundLeafCallback (btCollisionObject* compoundObj,btCollisionObject* otherObj,btDispatcher* dispatcher,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut,btCollisionAlgorithm** childCollisionAlgorithms,btPersistentManifold* sharedManifold)
107
+ :m_compoundColObj(compoundObj),m_otherObj(otherObj),m_dispatcher(dispatcher),m_dispatchInfo(dispatchInfo),m_resultOut(resultOut),
108
+ m_childCollisionAlgorithms(childCollisionAlgorithms),
109
+ m_sharedManifold(sharedManifold)
110
+ {
111
+
112
+ }
113
+
114
+
115
+ void ProcessChildShape(btCollisionShape* childShape,int index)
116
+ {
117
+ btAssert(index>=0);
118
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
119
+ btAssert(index<compoundShape->getNumChildShapes());
120
+
121
+
122
+ //backup
123
+ btTransform orgTrans = m_compoundColObj->getWorldTransform();
124
+ btTransform orgInterpolationTrans = m_compoundColObj->getInterpolationWorldTransform();
125
+ const btTransform& childTrans = compoundShape->getChildTransform(index);
126
+ btTransform newChildWorldTrans = orgTrans*childTrans ;
127
+
128
+ //perform an AABB check first
129
+ btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
130
+ childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
131
+ m_otherObj->getCollisionShape()->getAabb(m_otherObj->getWorldTransform(),aabbMin1,aabbMax1);
132
+
133
+ if (TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
134
+ {
135
+
136
+ m_compoundColObj->setWorldTransform( newChildWorldTrans);
137
+ m_compoundColObj->setInterpolationWorldTransform(newChildWorldTrans);
138
+
139
+ //the contactpoint is still projected back using the original inverted worldtrans
140
+ btCollisionShape* tmpShape = m_compoundColObj->getCollisionShape();
141
+ m_compoundColObj->internalSetTemporaryCollisionShape( childShape );
142
+
143
+ if (!m_childCollisionAlgorithms[index])
144
+ m_childCollisionAlgorithms[index] = m_dispatcher->findAlgorithm(m_compoundColObj,m_otherObj,m_sharedManifold);
145
+
146
+ ///detect swapping case
147
+ if (m_resultOut->getBody0Internal() == m_compoundColObj)
148
+ {
149
+ m_resultOut->setShapeIdentifiersA(-1,index);
150
+ } else
151
+ {
152
+ m_resultOut->setShapeIdentifiersB(-1,index);
153
+ }
154
+
155
+ m_childCollisionAlgorithms[index]->processCollision(m_compoundColObj,m_otherObj,m_dispatchInfo,m_resultOut);
156
+ if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
157
+ {
158
+ btVector3 worldAabbMin,worldAabbMax;
159
+ m_dispatchInfo.m_debugDraw->drawAabb(aabbMin0,aabbMax0,btVector3(1,1,1));
160
+ m_dispatchInfo.m_debugDraw->drawAabb(aabbMin1,aabbMax1,btVector3(1,1,1));
161
+ }
162
+
163
+ //revert back transform
164
+ m_compoundColObj->internalSetTemporaryCollisionShape( tmpShape);
165
+ m_compoundColObj->setWorldTransform( orgTrans );
166
+ m_compoundColObj->setInterpolationWorldTransform(orgInterpolationTrans);
167
+ }
168
+ }
169
+ void Process(const btDbvtNode* leaf)
170
+ {
171
+ int index = leaf->dataAsInt;
172
+
173
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(m_compoundColObj->getCollisionShape());
174
+ btCollisionShape* childShape = compoundShape->getChildShape(index);
175
+ if (m_dispatchInfo.m_debugDraw && (m_dispatchInfo.m_debugDraw->getDebugMode() & btIDebugDraw::DBG_DrawAabb))
176
+ {
177
+ btVector3 worldAabbMin,worldAabbMax;
178
+ btTransform orgTrans = m_compoundColObj->getWorldTransform();
179
+ btTransformAabb(leaf->volume.Mins(),leaf->volume.Maxs(),0.,orgTrans,worldAabbMin,worldAabbMax);
180
+ m_dispatchInfo.m_debugDraw->drawAabb(worldAabbMin,worldAabbMax,btVector3(1,0,0));
181
+ }
182
+ ProcessChildShape(childShape,index);
183
+
184
+ }
185
+ };
186
+
187
+
188
+
189
+
190
+
191
+
192
+ void btCompoundCollisionAlgorithm::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
193
+ {
194
+ btCollisionObject* colObj = m_isSwapped? body1 : body0;
195
+ btCollisionObject* otherObj = m_isSwapped? body0 : body1;
196
+
197
+
198
+
199
+ btAssert (colObj->getCollisionShape()->isCompound());
200
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
201
+
202
+ ///btCompoundShape might have changed:
203
+ ////make sure the internal child collision algorithm caches are still valid
204
+ if (compoundShape->getUpdateRevision() != m_compoundShapeRevision)
205
+ {
206
+ ///clear and update all
207
+ removeChildAlgorithms();
208
+
209
+ preallocateChildAlgorithms(body0,body1);
210
+ }
211
+
212
+
213
+ btDbvt* tree = compoundShape->getDynamicAabbTree();
214
+ //use a dynamic aabb tree to cull potential child-overlaps
215
+ btCompoundLeafCallback callback(colObj,otherObj,m_dispatcher,dispatchInfo,resultOut,&m_childCollisionAlgorithms[0],m_sharedManifold);
216
+
217
+ ///we need to refresh all contact manifolds
218
+ ///note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep
219
+ ///so we should add a 'refreshManifolds' in the btCollisionAlgorithm
220
+ {
221
+ int i;
222
+ btManifoldArray manifoldArray;
223
+ for (i=0;i<m_childCollisionAlgorithms.size();i++)
224
+ {
225
+ if (m_childCollisionAlgorithms[i])
226
+ {
227
+ m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
228
+ for (int m=0;m<manifoldArray.size();m++)
229
+ {
230
+ if (manifoldArray[m]->getNumContacts())
231
+ {
232
+ resultOut->setPersistentManifold(manifoldArray[m]);
233
+ resultOut->refreshContactPoints();
234
+ resultOut->setPersistentManifold(0);//??necessary?
235
+ }
236
+ }
237
+ manifoldArray.resize(0);
238
+ }
239
+ }
240
+ }
241
+
242
+ if (tree)
243
+ {
244
+
245
+ btVector3 localAabbMin,localAabbMax;
246
+ btTransform otherInCompoundSpace;
247
+ otherInCompoundSpace = colObj->getWorldTransform().inverse() * otherObj->getWorldTransform();
248
+ otherObj->getCollisionShape()->getAabb(otherInCompoundSpace,localAabbMin,localAabbMax);
249
+
250
+ const ATTRIBUTE_ALIGNED16(btDbvtVolume) bounds=btDbvtVolume::FromMM(localAabbMin,localAabbMax);
251
+ //process all children, that overlap with the given AABB bounds
252
+ tree->collideTV(tree->m_root,bounds,callback);
253
+
254
+ } else
255
+ {
256
+ //iterate over all children, perform an AABB check inside ProcessChildShape
257
+ int numChildren = m_childCollisionAlgorithms.size();
258
+ int i;
259
+ for (i=0;i<numChildren;i++)
260
+ {
261
+ callback.ProcessChildShape(compoundShape->getChildShape(i),i);
262
+ }
263
+ }
264
+
265
+ {
266
+ //iterate over all children, perform an AABB check inside ProcessChildShape
267
+ int numChildren = m_childCollisionAlgorithms.size();
268
+ int i;
269
+ btManifoldArray manifoldArray;
270
+ btCollisionShape* childShape = 0;
271
+ btTransform orgTrans;
272
+ btTransform orgInterpolationTrans;
273
+ btTransform newChildWorldTrans;
274
+ btVector3 aabbMin0,aabbMax0,aabbMin1,aabbMax1;
275
+
276
+ for (i=0;i<numChildren;i++)
277
+ {
278
+ if (m_childCollisionAlgorithms[i])
279
+ {
280
+ childShape = compoundShape->getChildShape(i);
281
+ //if not longer overlapping, remove the algorithm
282
+ orgTrans = colObj->getWorldTransform();
283
+ orgInterpolationTrans = colObj->getInterpolationWorldTransform();
284
+ const btTransform& childTrans = compoundShape->getChildTransform(i);
285
+ newChildWorldTrans = orgTrans*childTrans ;
286
+
287
+ //perform an AABB check first
288
+ childShape->getAabb(newChildWorldTrans,aabbMin0,aabbMax0);
289
+ otherObj->getCollisionShape()->getAabb(otherObj->getWorldTransform(),aabbMin1,aabbMax1);
290
+
291
+ if (!TestAabbAgainstAabb2(aabbMin0,aabbMax0,aabbMin1,aabbMax1))
292
+ {
293
+ m_childCollisionAlgorithms[i]->~btCollisionAlgorithm();
294
+ m_dispatcher->freeCollisionAlgorithm(m_childCollisionAlgorithms[i]);
295
+ m_childCollisionAlgorithms[i] = 0;
296
+ }
297
+ }
298
+ }
299
+ }
300
+ }
301
+
302
+ btScalar btCompoundCollisionAlgorithm::calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
303
+ {
304
+
305
+ btCollisionObject* colObj = m_isSwapped? body1 : body0;
306
+ btCollisionObject* otherObj = m_isSwapped? body0 : body1;
307
+
308
+ btAssert (colObj->getCollisionShape()->isCompound());
309
+
310
+ btCompoundShape* compoundShape = static_cast<btCompoundShape*>(colObj->getCollisionShape());
311
+
312
+ //We will use the OptimizedBVH, AABB tree to cull potential child-overlaps
313
+ //If both proxies are Compound, we will deal with that directly, by performing sequential/parallel tree traversals
314
+ //given Proxy0 and Proxy1, if both have a tree, Tree0 and Tree1, this means:
315
+ //determine overlapping nodes of Proxy1 using Proxy0 AABB against Tree1
316
+ //then use each overlapping node AABB against Tree0
317
+ //and vise versa.
318
+
319
+ btScalar hitFraction = btScalar(1.);
320
+
321
+ int numChildren = m_childCollisionAlgorithms.size();
322
+ int i;
323
+ btTransform orgTrans;
324
+ btScalar frac;
325
+ for (i=0;i<numChildren;i++)
326
+ {
327
+ //temporarily exchange parent btCollisionShape with childShape, and recurse
328
+ btCollisionShape* childShape = compoundShape->getChildShape(i);
329
+
330
+ //backup
331
+ orgTrans = colObj->getWorldTransform();
332
+
333
+ const btTransform& childTrans = compoundShape->getChildTransform(i);
334
+ //btTransform newChildWorldTrans = orgTrans*childTrans ;
335
+ colObj->setWorldTransform( orgTrans*childTrans );
336
+
337
+ btCollisionShape* tmpShape = colObj->getCollisionShape();
338
+ colObj->internalSetTemporaryCollisionShape( childShape );
339
+ frac = m_childCollisionAlgorithms[i]->calculateTimeOfImpact(colObj,otherObj,dispatchInfo,resultOut);
340
+ if (frac<hitFraction)
341
+ {
342
+ hitFraction = frac;
343
+ }
344
+ //revert back
345
+ colObj->internalSetTemporaryCollisionShape( tmpShape);
346
+ colObj->setWorldTransform( orgTrans);
347
+ }
348
+ return hitFraction;
349
+
350
+ }
351
+
352
+
353
+
@@ -0,0 +1,86 @@
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
+
16
+ #ifndef BT_COMPOUND_COLLISION_ALGORITHM_H
17
+ #define BT_COMPOUND_COLLISION_ALGORITHM_H
18
+
19
+ #include "btActivatingCollisionAlgorithm.h"
20
+ #include "BulletCollision/BroadphaseCollision/btDispatcher.h"
21
+ #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
22
+
23
+ #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
24
+ class btDispatcher;
25
+ #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
26
+ #include "btCollisionCreateFunc.h"
27
+ #include "LinearMath/btAlignedObjectArray.h"
28
+ class btDispatcher;
29
+ class btCollisionObject;
30
+
31
+ /// btCompoundCollisionAlgorithm supports collision between CompoundCollisionShapes and other collision shapes
32
+ class btCompoundCollisionAlgorithm : public btActivatingCollisionAlgorithm
33
+ {
34
+ btAlignedObjectArray<btCollisionAlgorithm*> m_childCollisionAlgorithms;
35
+ bool m_isSwapped;
36
+
37
+ class btPersistentManifold* m_sharedManifold;
38
+ bool m_ownsManifold;
39
+
40
+ int m_compoundShapeRevision;//to keep track of changes, so that childAlgorithm array can be updated
41
+
42
+ void removeChildAlgorithms();
43
+
44
+ void preallocateChildAlgorithms(btCollisionObject* body0,btCollisionObject* body1);
45
+
46
+ public:
47
+
48
+ btCompoundCollisionAlgorithm( const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,bool isSwapped);
49
+
50
+ virtual ~btCompoundCollisionAlgorithm();
51
+
52
+ virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
53
+
54
+ btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);
55
+
56
+ virtual void getAllContactManifolds(btManifoldArray& manifoldArray)
57
+ {
58
+ int i;
59
+ for (i=0;i<m_childCollisionAlgorithms.size();i++)
60
+ {
61
+ if (m_childCollisionAlgorithms[i])
62
+ m_childCollisionAlgorithms[i]->getAllContactManifolds(manifoldArray);
63
+ }
64
+ }
65
+
66
+ struct CreateFunc :public btCollisionAlgorithmCreateFunc
67
+ {
68
+ virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
69
+ {
70
+ void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
71
+ return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,false);
72
+ }
73
+ };
74
+
75
+ struct SwappedCreateFunc :public btCollisionAlgorithmCreateFunc
76
+ {
77
+ virtual btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
78
+ {
79
+ void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(btCompoundCollisionAlgorithm));
80
+ return new(mem) btCompoundCollisionAlgorithm(ci,body0,body1,true);
81
+ }
82
+ };
83
+
84
+ };
85
+
86
+ #endif //BT_COMPOUND_COLLISION_ALGORITHM_H
@@ -0,0 +1,247 @@
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
+
16
+ #include "btConvex2dConvex2dAlgorithm.h"
17
+
18
+ //#include <stdio.h>
19
+ #include "BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h"
20
+ #include "BulletCollision/BroadphaseCollision/btBroadphaseInterface.h"
21
+ #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
22
+ #include "BulletCollision/CollisionShapes/btConvexShape.h"
23
+ #include "BulletCollision/CollisionShapes/btCapsuleShape.h"
24
+
25
+
26
+ #include "BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h"
27
+ #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
28
+ #include "BulletCollision/CollisionDispatch/btCollisionDispatcher.h"
29
+ #include "BulletCollision/CollisionShapes/btBoxShape.h"
30
+ #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
31
+
32
+ #include "BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h"
33
+ #include "BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h"
34
+ #include "BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h"
35
+ #include "BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h"
36
+
37
+
38
+
39
+ #include "BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h"
40
+ #include "BulletCollision/CollisionShapes/btSphereShape.h"
41
+
42
+ #include "BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h"
43
+
44
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpa2.h"
45
+ #include "BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h"
46
+
47
+
48
+ btConvex2dConvex2dAlgorithm::CreateFunc::CreateFunc(btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver)
49
+ {
50
+ m_numPerturbationIterations = 0;
51
+ m_minimumPointsPerturbationThreshold = 3;
52
+ m_simplexSolver = simplexSolver;
53
+ m_pdSolver = pdSolver;
54
+ }
55
+
56
+ btConvex2dConvex2dAlgorithm::CreateFunc::~CreateFunc()
57
+ {
58
+ }
59
+
60
+ btConvex2dConvex2dAlgorithm::btConvex2dConvex2dAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* body0,btCollisionObject* body1,btSimplexSolverInterface* simplexSolver, btConvexPenetrationDepthSolver* pdSolver,int numPerturbationIterations, int minimumPointsPerturbationThreshold)
61
+ : btActivatingCollisionAlgorithm(ci,body0,body1),
62
+ m_simplexSolver(simplexSolver),
63
+ m_pdSolver(pdSolver),
64
+ m_ownManifold (false),
65
+ m_manifoldPtr(mf),
66
+ m_lowLevelOfDetail(false),
67
+ m_numPerturbationIterations(numPerturbationIterations),
68
+ m_minimumPointsPerturbationThreshold(minimumPointsPerturbationThreshold)
69
+ {
70
+ (void)body0;
71
+ (void)body1;
72
+ }
73
+
74
+
75
+
76
+
77
+ btConvex2dConvex2dAlgorithm::~btConvex2dConvex2dAlgorithm()
78
+ {
79
+ if (m_ownManifold)
80
+ {
81
+ if (m_manifoldPtr)
82
+ m_dispatcher->releaseManifold(m_manifoldPtr);
83
+ }
84
+ }
85
+
86
+ void btConvex2dConvex2dAlgorithm ::setLowLevelOfDetail(bool useLowLevel)
87
+ {
88
+ m_lowLevelOfDetail = useLowLevel;
89
+ }
90
+
91
+
92
+
93
+ extern btScalar gContactBreakingThreshold;
94
+
95
+
96
+ //
97
+ // Convex-Convex collision algorithm
98
+ //
99
+ void btConvex2dConvex2dAlgorithm ::processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
100
+ {
101
+
102
+ if (!m_manifoldPtr)
103
+ {
104
+ //swapped?
105
+ m_manifoldPtr = m_dispatcher->getNewManifold(body0,body1);
106
+ m_ownManifold = true;
107
+ }
108
+ resultOut->setPersistentManifold(m_manifoldPtr);
109
+
110
+ //comment-out next line to test multi-contact generation
111
+ //resultOut->getPersistentManifold()->clearManifold();
112
+
113
+
114
+ btConvexShape* min0 = static_cast<btConvexShape*>(body0->getCollisionShape());
115
+ btConvexShape* min1 = static_cast<btConvexShape*>(body1->getCollisionShape());
116
+
117
+ btVector3 normalOnB;
118
+ btVector3 pointOnBWorld;
119
+
120
+ {
121
+
122
+
123
+ btGjkPairDetector::ClosestPointInput input;
124
+
125
+ btGjkPairDetector gjkPairDetector(min0,min1,m_simplexSolver,m_pdSolver);
126
+ //TODO: if (dispatchInfo.m_useContinuous)
127
+ gjkPairDetector.setMinkowskiA(min0);
128
+ gjkPairDetector.setMinkowskiB(min1);
129
+
130
+ {
131
+ input.m_maximumDistanceSquared = min0->getMargin() + min1->getMargin() + m_manifoldPtr->getContactBreakingThreshold();
132
+ input.m_maximumDistanceSquared*= input.m_maximumDistanceSquared;
133
+ }
134
+
135
+ input.m_stackAlloc = dispatchInfo.m_stackAllocator;
136
+ input.m_transformA = body0->getWorldTransform();
137
+ input.m_transformB = body1->getWorldTransform();
138
+
139
+ gjkPairDetector.getClosestPoints(input,*resultOut,dispatchInfo.m_debugDraw);
140
+
141
+ btVector3 v0,v1;
142
+ btVector3 sepNormalWorldSpace;
143
+
144
+ }
145
+
146
+ if (m_ownManifold)
147
+ {
148
+ resultOut->refreshContactPoints();
149
+ }
150
+
151
+ }
152
+
153
+
154
+
155
+
156
+ btScalar btConvex2dConvex2dAlgorithm::calculateTimeOfImpact(btCollisionObject* col0,btCollisionObject* col1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
157
+ {
158
+ (void)resultOut;
159
+ (void)dispatchInfo;
160
+ ///Rather then checking ALL pairs, only calculate TOI when motion exceeds threshold
161
+
162
+ ///Linear motion for one of objects needs to exceed m_ccdSquareMotionThreshold
163
+ ///col0->m_worldTransform,
164
+ btScalar resultFraction = btScalar(1.);
165
+
166
+
167
+ btScalar squareMot0 = (col0->getInterpolationWorldTransform().getOrigin() - col0->getWorldTransform().getOrigin()).length2();
168
+ btScalar squareMot1 = (col1->getInterpolationWorldTransform().getOrigin() - col1->getWorldTransform().getOrigin()).length2();
169
+
170
+ if (squareMot0 < col0->getCcdSquareMotionThreshold() &&
171
+ squareMot1 < col1->getCcdSquareMotionThreshold())
172
+ return resultFraction;
173
+
174
+
175
+ //An adhoc way of testing the Continuous Collision Detection algorithms
176
+ //One object is approximated as a sphere, to simplify things
177
+ //Starting in penetration should report no time of impact
178
+ //For proper CCD, better accuracy and handling of 'allowed' penetration should be added
179
+ //also the mainloop of the physics should have a kind of toi queue (something like Brian Mirtich's application of Timewarp for Rigidbodies)
180
+
181
+
182
+ /// Convex0 against sphere for Convex1
183
+ {
184
+ btConvexShape* convex0 = static_cast<btConvexShape*>(col0->getCollisionShape());
185
+
186
+ btSphereShape sphere1(col1->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
187
+ btConvexCast::CastResult result;
188
+ btVoronoiSimplexSolver voronoiSimplex;
189
+ //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
190
+ ///Simplification, one object is simplified as a sphere
191
+ btGjkConvexCast ccd1( convex0 ,&sphere1,&voronoiSimplex);
192
+ //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
193
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
194
+ col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
195
+ {
196
+
197
+ //store result.m_fraction in both bodies
198
+
199
+ if (col0->getHitFraction()> result.m_fraction)
200
+ col0->setHitFraction( result.m_fraction );
201
+
202
+ if (col1->getHitFraction() > result.m_fraction)
203
+ col1->setHitFraction( result.m_fraction);
204
+
205
+ if (resultFraction > result.m_fraction)
206
+ resultFraction = result.m_fraction;
207
+
208
+ }
209
+
210
+
211
+
212
+
213
+ }
214
+
215
+ /// Sphere (for convex0) against Convex1
216
+ {
217
+ btConvexShape* convex1 = static_cast<btConvexShape*>(col1->getCollisionShape());
218
+
219
+ btSphereShape sphere0(col0->getCcdSweptSphereRadius()); //todo: allow non-zero sphere sizes, for better approximation
220
+ btConvexCast::CastResult result;
221
+ btVoronoiSimplexSolver voronoiSimplex;
222
+ //SubsimplexConvexCast ccd0(&sphere,min0,&voronoiSimplex);
223
+ ///Simplification, one object is simplified as a sphere
224
+ btGjkConvexCast ccd1(&sphere0,convex1,&voronoiSimplex);
225
+ //ContinuousConvexCollision ccd(min0,min1,&voronoiSimplex,0);
226
+ if (ccd1.calcTimeOfImpact(col0->getWorldTransform(),col0->getInterpolationWorldTransform(),
227
+ col1->getWorldTransform(),col1->getInterpolationWorldTransform(),result))
228
+ {
229
+
230
+ //store result.m_fraction in both bodies
231
+
232
+ if (col0->getHitFraction() > result.m_fraction)
233
+ col0->setHitFraction( result.m_fraction);
234
+
235
+ if (col1->getHitFraction() > result.m_fraction)
236
+ col1->setHitFraction( result.m_fraction);
237
+
238
+ if (resultFraction > result.m_fraction)
239
+ resultFraction = result.m_fraction;
240
+
241
+ }
242
+ }
243
+
244
+ return resultFraction;
245
+
246
+ }
247
+