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 +1,411 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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 "btHeightfieldTerrainShape.h"
17
+
18
+ #include "LinearMath/btTransformUtil.h"
19
+
20
+
21
+
22
+ btHeightfieldTerrainShape::btHeightfieldTerrainShape
23
+ (
24
+ int heightStickWidth, int heightStickLength, const void* heightfieldData,
25
+ btScalar heightScale, btScalar minHeight, btScalar maxHeight,int upAxis,
26
+ PHY_ScalarType hdt, bool flipQuadEdges
27
+ )
28
+ {
29
+ initialize(heightStickWidth, heightStickLength, heightfieldData,
30
+ heightScale, minHeight, maxHeight, upAxis, hdt,
31
+ flipQuadEdges);
32
+ }
33
+
34
+
35
+
36
+ btHeightfieldTerrainShape::btHeightfieldTerrainShape(int heightStickWidth, int heightStickLength,const void* heightfieldData,btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges)
37
+ {
38
+ // legacy constructor: support only float or unsigned char,
39
+ // and min height is zero
40
+ PHY_ScalarType hdt = (useFloatData) ? PHY_FLOAT : PHY_UCHAR;
41
+ btScalar minHeight = 0.0;
42
+
43
+ // previously, height = uchar * maxHeight / 65535.
44
+ // So to preserve legacy behavior, heightScale = maxHeight / 65535
45
+ btScalar heightScale = maxHeight / 65535;
46
+
47
+ initialize(heightStickWidth, heightStickLength, heightfieldData,
48
+ heightScale, minHeight, maxHeight, upAxis, hdt,
49
+ flipQuadEdges);
50
+ }
51
+
52
+
53
+
54
+ void btHeightfieldTerrainShape::initialize
55
+ (
56
+ int heightStickWidth, int heightStickLength, const void* heightfieldData,
57
+ btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis,
58
+ PHY_ScalarType hdt, bool flipQuadEdges
59
+ )
60
+ {
61
+ // validation
62
+ btAssert(heightStickWidth > 1 && "bad width");
63
+ btAssert(heightStickLength > 1 && "bad length");
64
+ btAssert(heightfieldData && "null heightfield data");
65
+ // btAssert(heightScale) -- do we care? Trust caller here
66
+ btAssert(minHeight <= maxHeight && "bad min/max height");
67
+ btAssert(upAxis >= 0 && upAxis < 3 &&
68
+ "bad upAxis--should be in range [0,2]");
69
+ btAssert(hdt != PHY_UCHAR || hdt != PHY_FLOAT || hdt != PHY_SHORT &&
70
+ "Bad height data type enum");
71
+
72
+ // initialize member variables
73
+ m_shapeType = TERRAIN_SHAPE_PROXYTYPE;
74
+ m_heightStickWidth = heightStickWidth;
75
+ m_heightStickLength = heightStickLength;
76
+ m_minHeight = minHeight;
77
+ m_maxHeight = maxHeight;
78
+ m_width = (btScalar) (heightStickWidth - 1);
79
+ m_length = (btScalar) (heightStickLength - 1);
80
+ m_heightScale = heightScale;
81
+ m_heightfieldDataUnknown = heightfieldData;
82
+ m_heightDataType = hdt;
83
+ m_flipQuadEdges = flipQuadEdges;
84
+ m_useDiamondSubdivision = false;
85
+ m_upAxis = upAxis;
86
+ m_localScaling.setValue(btScalar(1.), btScalar(1.), btScalar(1.));
87
+
88
+ // determine min/max axis-aligned bounding box (aabb) values
89
+ switch (m_upAxis)
90
+ {
91
+ case 0:
92
+ {
93
+ m_localAabbMin.setValue(m_minHeight, 0, 0);
94
+ m_localAabbMax.setValue(m_maxHeight, m_width, m_length);
95
+ break;
96
+ }
97
+ case 1:
98
+ {
99
+ m_localAabbMin.setValue(0, m_minHeight, 0);
100
+ m_localAabbMax.setValue(m_width, m_maxHeight, m_length);
101
+ break;
102
+ };
103
+ case 2:
104
+ {
105
+ m_localAabbMin.setValue(0, 0, m_minHeight);
106
+ m_localAabbMax.setValue(m_width, m_length, m_maxHeight);
107
+ break;
108
+ }
109
+ default:
110
+ {
111
+ //need to get valid m_upAxis
112
+ btAssert(0 && "Bad m_upAxis");
113
+ }
114
+ }
115
+
116
+ // remember origin (defined as exact middle of aabb)
117
+ m_localOrigin = btScalar(0.5) * (m_localAabbMin + m_localAabbMax);
118
+ }
119
+
120
+
121
+
122
+ btHeightfieldTerrainShape::~btHeightfieldTerrainShape()
123
+ {
124
+ }
125
+
126
+
127
+
128
+ void btHeightfieldTerrainShape::getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
129
+ {
130
+ btVector3 halfExtents = (m_localAabbMax-m_localAabbMin)* m_localScaling * btScalar(0.5);
131
+
132
+ btVector3 localOrigin(0, 0, 0);
133
+ localOrigin[m_upAxis] = (m_minHeight + m_maxHeight) * btScalar(0.5);
134
+ localOrigin *= m_localScaling;
135
+
136
+ btMatrix3x3 abs_b = t.getBasis().absolute();
137
+ btVector3 center = t.getOrigin();
138
+ btVector3 extent = btVector3(abs_b[0].dot(halfExtents),
139
+ abs_b[1].dot(halfExtents),
140
+ abs_b[2].dot(halfExtents));
141
+ extent += btVector3(getMargin(),getMargin(),getMargin());
142
+
143
+ aabbMin = center - extent;
144
+ aabbMax = center + extent;
145
+ }
146
+
147
+
148
+ /// This returns the "raw" (user's initial) height, not the actual height.
149
+ /// The actual height needs to be adjusted to be relative to the center
150
+ /// of the heightfield's AABB.
151
+ btScalar
152
+ btHeightfieldTerrainShape::getRawHeightFieldValue(int x,int y) const
153
+ {
154
+ btScalar val = 0.f;
155
+ switch (m_heightDataType)
156
+ {
157
+ case PHY_FLOAT:
158
+ {
159
+ val = m_heightfieldDataFloat[(y*m_heightStickWidth)+x];
160
+ break;
161
+ }
162
+
163
+ case PHY_UCHAR:
164
+ {
165
+ unsigned char heightFieldValue = m_heightfieldDataUnsignedChar[(y*m_heightStickWidth)+x];
166
+ val = heightFieldValue * m_heightScale;
167
+ break;
168
+ }
169
+
170
+ case PHY_SHORT:
171
+ {
172
+ short hfValue = m_heightfieldDataShort[(y * m_heightStickWidth) + x];
173
+ val = hfValue * m_heightScale;
174
+ break;
175
+ }
176
+
177
+ default:
178
+ {
179
+ btAssert(!"Bad m_heightDataType");
180
+ }
181
+ }
182
+
183
+ return val;
184
+ }
185
+
186
+
187
+
188
+
189
+ /// this returns the vertex in bullet-local coordinates
190
+ void btHeightfieldTerrainShape::getVertex(int x,int y,btVector3& vertex) const
191
+ {
192
+ btAssert(x>=0);
193
+ btAssert(y>=0);
194
+ btAssert(x<m_heightStickWidth);
195
+ btAssert(y<m_heightStickLength);
196
+
197
+ btScalar height = getRawHeightFieldValue(x,y);
198
+
199
+ switch (m_upAxis)
200
+ {
201
+ case 0:
202
+ {
203
+ vertex.setValue(
204
+ height - m_localOrigin.getX(),
205
+ (-m_width/btScalar(2.0)) + x,
206
+ (-m_length/btScalar(2.0) ) + y
207
+ );
208
+ break;
209
+ }
210
+ case 1:
211
+ {
212
+ vertex.setValue(
213
+ (-m_width/btScalar(2.0)) + x,
214
+ height - m_localOrigin.getY(),
215
+ (-m_length/btScalar(2.0)) + y
216
+ );
217
+ break;
218
+ };
219
+ case 2:
220
+ {
221
+ vertex.setValue(
222
+ (-m_width/btScalar(2.0)) + x,
223
+ (-m_length/btScalar(2.0)) + y,
224
+ height - m_localOrigin.getZ()
225
+ );
226
+ break;
227
+ }
228
+ default:
229
+ {
230
+ //need to get valid m_upAxis
231
+ btAssert(0);
232
+ }
233
+ }
234
+
235
+ vertex*=m_localScaling;
236
+ }
237
+
238
+
239
+
240
+ static inline int
241
+ getQuantized
242
+ (
243
+ btScalar x
244
+ )
245
+ {
246
+ if (x < 0.0) {
247
+ return (int) (x - 0.5);
248
+ }
249
+ return (int) (x + 0.5);
250
+ }
251
+
252
+
253
+
254
+ /// given input vector, return quantized version
255
+ /**
256
+ This routine is basically determining the gridpoint indices for a given
257
+ input vector, answering the question: "which gridpoint is closest to the
258
+ provided point?".
259
+
260
+ "with clamp" means that we restrict the point to be in the heightfield's
261
+ axis-aligned bounding box.
262
+ */
263
+ void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
264
+ {
265
+ btVector3 clampedPoint(point);
266
+ clampedPoint.setMax(m_localAabbMin);
267
+ clampedPoint.setMin(m_localAabbMax);
268
+
269
+ out[0] = getQuantized(clampedPoint.getX());
270
+ out[1] = getQuantized(clampedPoint.getY());
271
+ out[2] = getQuantized(clampedPoint.getZ());
272
+
273
+ }
274
+
275
+
276
+
277
+ /// process all triangles within the provided axis-aligned bounding box
278
+ /**
279
+ basic algorithm:
280
+ - convert input aabb to local coordinates (scale down and shift for local origin)
281
+ - convert input aabb to a range of heightfield grid points (quantize)
282
+ - iterate over all triangles in that subset of the grid
283
+ */
284
+ void btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
285
+ {
286
+ // scale down the input aabb's so they are in local (non-scaled) coordinates
287
+ btVector3 localAabbMin = aabbMin*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
288
+ btVector3 localAabbMax = aabbMax*btVector3(1.f/m_localScaling[0],1.f/m_localScaling[1],1.f/m_localScaling[2]);
289
+
290
+ // account for local origin
291
+ localAabbMin += m_localOrigin;
292
+ localAabbMax += m_localOrigin;
293
+
294
+ //quantize the aabbMin and aabbMax, and adjust the start/end ranges
295
+ int quantizedAabbMin[3];
296
+ int quantizedAabbMax[3];
297
+ quantizeWithClamp(quantizedAabbMin, localAabbMin,0);
298
+ quantizeWithClamp(quantizedAabbMax, localAabbMax,1);
299
+
300
+ // expand the min/max quantized values
301
+ // this is to catch the case where the input aabb falls between grid points!
302
+ for (int i = 0; i < 3; ++i) {
303
+ quantizedAabbMin[i]--;
304
+ quantizedAabbMax[i]++;
305
+ }
306
+
307
+ int startX=0;
308
+ int endX=m_heightStickWidth-1;
309
+ int startJ=0;
310
+ int endJ=m_heightStickLength-1;
311
+
312
+ switch (m_upAxis)
313
+ {
314
+ case 0:
315
+ {
316
+ if (quantizedAabbMin[1]>startX)
317
+ startX = quantizedAabbMin[1];
318
+ if (quantizedAabbMax[1]<endX)
319
+ endX = quantizedAabbMax[1];
320
+ if (quantizedAabbMin[2]>startJ)
321
+ startJ = quantizedAabbMin[2];
322
+ if (quantizedAabbMax[2]<endJ)
323
+ endJ = quantizedAabbMax[2];
324
+ break;
325
+ }
326
+ case 1:
327
+ {
328
+ if (quantizedAabbMin[0]>startX)
329
+ startX = quantizedAabbMin[0];
330
+ if (quantizedAabbMax[0]<endX)
331
+ endX = quantizedAabbMax[0];
332
+ if (quantizedAabbMin[2]>startJ)
333
+ startJ = quantizedAabbMin[2];
334
+ if (quantizedAabbMax[2]<endJ)
335
+ endJ = quantizedAabbMax[2];
336
+ break;
337
+ };
338
+ case 2:
339
+ {
340
+ if (quantizedAabbMin[0]>startX)
341
+ startX = quantizedAabbMin[0];
342
+ if (quantizedAabbMax[0]<endX)
343
+ endX = quantizedAabbMax[0];
344
+ if (quantizedAabbMin[1]>startJ)
345
+ startJ = quantizedAabbMin[1];
346
+ if (quantizedAabbMax[1]<endJ)
347
+ endJ = quantizedAabbMax[1];
348
+ break;
349
+ }
350
+ default:
351
+ {
352
+ //need to get valid m_upAxis
353
+ btAssert(0);
354
+ }
355
+ }
356
+
357
+
358
+
359
+
360
+ for(int j=startJ; j<endJ; j++)
361
+ {
362
+ for(int x=startX; x<endX; x++)
363
+ {
364
+ btVector3 vertices[3];
365
+ if (m_flipQuadEdges || (m_useDiamondSubdivision && !((j+x) & 1)))
366
+ {
367
+ //first triangle
368
+ getVertex(x,j,vertices[0]);
369
+ getVertex(x+1,j,vertices[1]);
370
+ getVertex(x+1,j+1,vertices[2]);
371
+ callback->processTriangle(vertices,x,j);
372
+ //second triangle
373
+ getVertex(x,j,vertices[0]);
374
+ getVertex(x+1,j+1,vertices[1]);
375
+ getVertex(x,j+1,vertices[2]);
376
+ callback->processTriangle(vertices,x,j);
377
+ } else
378
+ {
379
+ //first triangle
380
+ getVertex(x,j,vertices[0]);
381
+ getVertex(x,j+1,vertices[1]);
382
+ getVertex(x+1,j,vertices[2]);
383
+ callback->processTriangle(vertices,x,j);
384
+ //second triangle
385
+ getVertex(x+1,j,vertices[0]);
386
+ getVertex(x,j+1,vertices[1]);
387
+ getVertex(x+1,j+1,vertices[2]);
388
+ callback->processTriangle(vertices,x,j);
389
+ }
390
+ }
391
+ }
392
+
393
+
394
+
395
+ }
396
+
397
+ void btHeightfieldTerrainShape::calculateLocalInertia(btScalar ,btVector3& inertia) const
398
+ {
399
+ //moving concave objects not supported
400
+
401
+ inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
402
+ }
403
+
404
+ void btHeightfieldTerrainShape::setLocalScaling(const btVector3& scaling)
405
+ {
406
+ m_localScaling = scaling;
407
+ }
408
+ const btVector3& btHeightfieldTerrainShape::getLocalScaling() const
409
+ {
410
+ return m_localScaling;
411
+ }
@@ -0,0 +1,161 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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_HEIGHTFIELD_TERRAIN_SHAPE_H
17
+ #define BT_HEIGHTFIELD_TERRAIN_SHAPE_H
18
+
19
+ #include "btConcaveShape.h"
20
+
21
+ ///btHeightfieldTerrainShape simulates a 2D heightfield terrain
22
+ /**
23
+ The caller is responsible for maintaining the heightfield array; this
24
+ class does not make a copy.
25
+
26
+ The heightfield can be dynamic so long as the min/max height values
27
+ capture the extremes (heights must always be in that range).
28
+
29
+ The local origin of the heightfield is assumed to be the exact
30
+ center (as determined by width and length and height, with each
31
+ axis multiplied by the localScaling).
32
+
33
+ \b NOTE: be careful with coordinates. If you have a heightfield with a local
34
+ min height of -100m, and a max height of +500m, you may be tempted to place it
35
+ at the origin (0,0) and expect the heights in world coordinates to be
36
+ -100 to +500 meters.
37
+ Actually, the heights will be -300 to +300m, because bullet will re-center
38
+ the heightfield based on its AABB (which is determined by the min/max
39
+ heights). So keep in mind that once you create a btHeightfieldTerrainShape
40
+ object, the heights will be adjusted relative to the center of the AABB. This
41
+ is different to the behavior of many rendering engines, but is useful for
42
+ physics engines.
43
+
44
+ Most (but not all) rendering and heightfield libraries assume upAxis = 1
45
+ (that is, the y-axis is "up"). This class allows any of the 3 coordinates
46
+ to be "up". Make sure your choice of axis is consistent with your rendering
47
+ system.
48
+
49
+ The heightfield heights are determined from the data type used for the
50
+ heightfieldData array.
51
+
52
+ - PHY_UCHAR: height at a point is the uchar value at the
53
+ grid point, multipled by heightScale. uchar isn't recommended
54
+ because of its inability to deal with negative values, and
55
+ low resolution (8-bit).
56
+
57
+ - PHY_SHORT: height at a point is the short int value at that grid
58
+ point, multipled by heightScale.
59
+
60
+ - PHY_FLOAT: height at a point is the float value at that grid
61
+ point. heightScale is ignored when using the float heightfield
62
+ data type.
63
+
64
+ Whatever the caller specifies as minHeight and maxHeight will be honored.
65
+ The class will not inspect the heightfield to discover the actual minimum
66
+ or maximum heights. These values are used to determine the heightfield's
67
+ axis-aligned bounding box, multiplied by localScaling.
68
+
69
+ For usage and testing see the TerrainDemo.
70
+ */
71
+ class btHeightfieldTerrainShape : public btConcaveShape
72
+ {
73
+ protected:
74
+ btVector3 m_localAabbMin;
75
+ btVector3 m_localAabbMax;
76
+ btVector3 m_localOrigin;
77
+
78
+ ///terrain data
79
+ int m_heightStickWidth;
80
+ int m_heightStickLength;
81
+ btScalar m_minHeight;
82
+ btScalar m_maxHeight;
83
+ btScalar m_width;
84
+ btScalar m_length;
85
+ btScalar m_heightScale;
86
+ union
87
+ {
88
+ const unsigned char* m_heightfieldDataUnsignedChar;
89
+ const short* m_heightfieldDataShort;
90
+ const btScalar* m_heightfieldDataFloat;
91
+ const void* m_heightfieldDataUnknown;
92
+ };
93
+
94
+ PHY_ScalarType m_heightDataType;
95
+ bool m_flipQuadEdges;
96
+ bool m_useDiamondSubdivision;
97
+
98
+ int m_upAxis;
99
+
100
+ btVector3 m_localScaling;
101
+
102
+ virtual btScalar getRawHeightFieldValue(int x,int y) const;
103
+ void quantizeWithClamp(int* out, const btVector3& point,int isMax) const;
104
+ void getVertex(int x,int y,btVector3& vertex) const;
105
+
106
+
107
+
108
+ /// protected initialization
109
+ /**
110
+ Handles the work of constructors so that public constructors can be
111
+ backwards-compatible without a lot of copy/paste.
112
+ */
113
+ void initialize(int heightStickWidth, int heightStickLength,
114
+ const void* heightfieldData, btScalar heightScale,
115
+ btScalar minHeight, btScalar maxHeight, int upAxis,
116
+ PHY_ScalarType heightDataType, bool flipQuadEdges);
117
+
118
+ public:
119
+ /// preferred constructor
120
+ /**
121
+ This constructor supports a range of heightfield
122
+ data types, and allows for a non-zero minimum height value.
123
+ heightScale is needed for any integer-based heightfield data types.
124
+ */
125
+ btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,
126
+ const void* heightfieldData, btScalar heightScale,
127
+ btScalar minHeight, btScalar maxHeight,
128
+ int upAxis, PHY_ScalarType heightDataType,
129
+ bool flipQuadEdges);
130
+
131
+ /// legacy constructor
132
+ /**
133
+ The legacy constructor assumes the heightfield has a minimum height
134
+ of zero. Only unsigned char or floats are supported. For legacy
135
+ compatibility reasons, heightScale is calculated as maxHeight / 65535
136
+ (and is only used when useFloatData = false).
137
+ */
138
+ btHeightfieldTerrainShape(int heightStickWidth,int heightStickLength,const void* heightfieldData, btScalar maxHeight,int upAxis,bool useFloatData,bool flipQuadEdges);
139
+
140
+ virtual ~btHeightfieldTerrainShape();
141
+
142
+
143
+ void setUseDiamondSubdivision(bool useDiamondSubdivision=true) { m_useDiamondSubdivision = useDiamondSubdivision;}
144
+
145
+
146
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
147
+
148
+ virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
149
+
150
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
151
+
152
+ virtual void setLocalScaling(const btVector3& scaling);
153
+
154
+ virtual const btVector3& getLocalScaling() const;
155
+
156
+ //debugging
157
+ virtual const char* getName()const {return "HEIGHTFIELD";}
158
+
159
+ };
160
+
161
+ #endif //BT_HEIGHTFIELD_TERRAIN_SHAPE_H
@@ -0,0 +1,35 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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
+ /// This file was created by Alex Silverman
17
+
18
+ #ifndef BT_MATERIAL_H
19
+ #define BT_MATERIAL_H
20
+
21
+ // Material class to be used by btMultimaterialTriangleMeshShape to store triangle properties
22
+ class btMaterial
23
+ {
24
+ // public members so that materials can change due to world events
25
+ public:
26
+ btScalar m_friction;
27
+ btScalar m_restitution;
28
+ int pad[2];
29
+
30
+ btMaterial(){}
31
+ btMaterial(btScalar fric, btScalar rest) { m_friction = fric; m_restitution = rest; }
32
+ };
33
+
34
+ #endif // BT_MATERIAL_H
35
+
@@ -0,0 +1,60 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+
17
+ #include "btMinkowskiSumShape.h"
18
+
19
+
20
+ btMinkowskiSumShape::btMinkowskiSumShape(const btConvexShape* shapeA,const btConvexShape* shapeB)
21
+ : btConvexInternalShape (),
22
+ m_shapeA(shapeA),
23
+ m_shapeB(shapeB)
24
+ {
25
+ m_shapeType = MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE;
26
+ m_transA.setIdentity();
27
+ m_transB.setIdentity();
28
+ }
29
+
30
+ btVector3 btMinkowskiSumShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
31
+ {
32
+ btVector3 supVertexA = m_transA(m_shapeA->localGetSupportingVertexWithoutMargin(vec*m_transA.getBasis()));
33
+ btVector3 supVertexB = m_transB(m_shapeB->localGetSupportingVertexWithoutMargin(-vec*m_transB.getBasis()));
34
+ return supVertexA - supVertexB;
35
+ }
36
+
37
+ void btMinkowskiSumShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
38
+ {
39
+ ///@todo: could make recursive use of batching. probably this shape is not used frequently.
40
+ for (int i=0;i<numVectors;i++)
41
+ {
42
+ supportVerticesOut[i] = localGetSupportingVertexWithoutMargin(vectors[i]);
43
+ }
44
+
45
+ }
46
+
47
+
48
+
49
+ btScalar btMinkowskiSumShape::getMargin() const
50
+ {
51
+ return m_shapeA->getMargin() + m_shapeB->getMargin();
52
+ }
53
+
54
+
55
+ void btMinkowskiSumShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
56
+ {
57
+ (void)mass;
58
+ btAssert(0);
59
+ inertia.setValue(0,0,0);
60
+ }