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 +1,391 @@
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 "btOptimizedBvh.h"
18
+ #include "btStridingMeshInterface.h"
19
+ #include "LinearMath/btAabbUtil2.h"
20
+ #include "LinearMath/btIDebugDraw.h"
21
+
22
+
23
+ btOptimizedBvh::btOptimizedBvh()
24
+ {
25
+ }
26
+
27
+ btOptimizedBvh::~btOptimizedBvh()
28
+ {
29
+ }
30
+
31
+
32
+ void btOptimizedBvh::build(btStridingMeshInterface* triangles, bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax)
33
+ {
34
+ m_useQuantization = useQuantizedAabbCompression;
35
+
36
+
37
+ // NodeArray triangleNodes;
38
+
39
+ struct NodeTriangleCallback : public btInternalTriangleIndexCallback
40
+ {
41
+
42
+ NodeArray& m_triangleNodes;
43
+
44
+ NodeTriangleCallback& operator=(NodeTriangleCallback& other)
45
+ {
46
+ m_triangleNodes.copyFromArray(other.m_triangleNodes);
47
+ return *this;
48
+ }
49
+
50
+ NodeTriangleCallback(NodeArray& triangleNodes)
51
+ :m_triangleNodes(triangleNodes)
52
+ {
53
+ }
54
+
55
+ virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
56
+ {
57
+ btOptimizedBvhNode node;
58
+ btVector3 aabbMin,aabbMax;
59
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
60
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
61
+ aabbMin.setMin(triangle[0]);
62
+ aabbMax.setMax(triangle[0]);
63
+ aabbMin.setMin(triangle[1]);
64
+ aabbMax.setMax(triangle[1]);
65
+ aabbMin.setMin(triangle[2]);
66
+ aabbMax.setMax(triangle[2]);
67
+
68
+ //with quantization?
69
+ node.m_aabbMinOrg = aabbMin;
70
+ node.m_aabbMaxOrg = aabbMax;
71
+
72
+ node.m_escapeIndex = -1;
73
+
74
+ //for child nodes
75
+ node.m_subPart = partId;
76
+ node.m_triangleIndex = triangleIndex;
77
+ m_triangleNodes.push_back(node);
78
+ }
79
+ };
80
+ struct QuantizedNodeTriangleCallback : public btInternalTriangleIndexCallback
81
+ {
82
+ QuantizedNodeArray& m_triangleNodes;
83
+ const btQuantizedBvh* m_optimizedTree; // for quantization
84
+
85
+ QuantizedNodeTriangleCallback& operator=(QuantizedNodeTriangleCallback& other)
86
+ {
87
+ m_triangleNodes.copyFromArray(other.m_triangleNodes);
88
+ m_optimizedTree = other.m_optimizedTree;
89
+ return *this;
90
+ }
91
+
92
+ QuantizedNodeTriangleCallback(QuantizedNodeArray& triangleNodes,const btQuantizedBvh* tree)
93
+ :m_triangleNodes(triangleNodes),m_optimizedTree(tree)
94
+ {
95
+ }
96
+
97
+ virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
98
+ {
99
+ // The partId and triangle index must fit in the same (positive) integer
100
+ btAssert(partId < (1<<MAX_NUM_PARTS_IN_BITS));
101
+ btAssert(triangleIndex < (1<<(31-MAX_NUM_PARTS_IN_BITS)));
102
+ //negative indices are reserved for escapeIndex
103
+ btAssert(triangleIndex>=0);
104
+
105
+ btQuantizedBvhNode node;
106
+ btVector3 aabbMin,aabbMax;
107
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
108
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
109
+ aabbMin.setMin(triangle[0]);
110
+ aabbMax.setMax(triangle[0]);
111
+ aabbMin.setMin(triangle[1]);
112
+ aabbMax.setMax(triangle[1]);
113
+ aabbMin.setMin(triangle[2]);
114
+ aabbMax.setMax(triangle[2]);
115
+
116
+ //PCK: add these checks for zero dimensions of aabb
117
+ const btScalar MIN_AABB_DIMENSION = btScalar(0.002);
118
+ const btScalar MIN_AABB_HALF_DIMENSION = btScalar(0.001);
119
+ if (aabbMax.x() - aabbMin.x() < MIN_AABB_DIMENSION)
120
+ {
121
+ aabbMax.setX(aabbMax.x() + MIN_AABB_HALF_DIMENSION);
122
+ aabbMin.setX(aabbMin.x() - MIN_AABB_HALF_DIMENSION);
123
+ }
124
+ if (aabbMax.y() - aabbMin.y() < MIN_AABB_DIMENSION)
125
+ {
126
+ aabbMax.setY(aabbMax.y() + MIN_AABB_HALF_DIMENSION);
127
+ aabbMin.setY(aabbMin.y() - MIN_AABB_HALF_DIMENSION);
128
+ }
129
+ if (aabbMax.z() - aabbMin.z() < MIN_AABB_DIMENSION)
130
+ {
131
+ aabbMax.setZ(aabbMax.z() + MIN_AABB_HALF_DIMENSION);
132
+ aabbMin.setZ(aabbMin.z() - MIN_AABB_HALF_DIMENSION);
133
+ }
134
+
135
+ m_optimizedTree->quantize(&node.m_quantizedAabbMin[0],aabbMin,0);
136
+ m_optimizedTree->quantize(&node.m_quantizedAabbMax[0],aabbMax,1);
137
+
138
+ node.m_escapeIndexOrTriangleIndex = (partId<<(31-MAX_NUM_PARTS_IN_BITS)) | triangleIndex;
139
+
140
+ m_triangleNodes.push_back(node);
141
+ }
142
+ };
143
+
144
+
145
+
146
+ int numLeafNodes = 0;
147
+
148
+
149
+ if (m_useQuantization)
150
+ {
151
+
152
+ //initialize quantization values
153
+ setQuantizationValues(bvhAabbMin,bvhAabbMax);
154
+
155
+ QuantizedNodeTriangleCallback callback(m_quantizedLeafNodes,this);
156
+
157
+
158
+ triangles->InternalProcessAllTriangles(&callback,m_bvhAabbMin,m_bvhAabbMax);
159
+
160
+ //now we have an array of leafnodes in m_leafNodes
161
+ numLeafNodes = m_quantizedLeafNodes.size();
162
+
163
+
164
+ m_quantizedContiguousNodes.resize(2*numLeafNodes);
165
+
166
+
167
+ } else
168
+ {
169
+ NodeTriangleCallback callback(m_leafNodes);
170
+
171
+ btVector3 aabbMin(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
172
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
173
+
174
+ triangles->InternalProcessAllTriangles(&callback,aabbMin,aabbMax);
175
+
176
+ //now we have an array of leafnodes in m_leafNodes
177
+ numLeafNodes = m_leafNodes.size();
178
+
179
+ m_contiguousNodes.resize(2*numLeafNodes);
180
+ }
181
+
182
+ m_curNodeIndex = 0;
183
+
184
+ buildTree(0,numLeafNodes);
185
+
186
+ ///if the entire tree is small then subtree size, we need to create a header info for the tree
187
+ if(m_useQuantization && !m_SubtreeHeaders.size())
188
+ {
189
+ btBvhSubtreeInfo& subtree = m_SubtreeHeaders.expand();
190
+ subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[0]);
191
+ subtree.m_rootNodeIndex = 0;
192
+ subtree.m_subtreeSize = m_quantizedContiguousNodes[0].isLeafNode() ? 1 : m_quantizedContiguousNodes[0].getEscapeIndex();
193
+ }
194
+
195
+ //PCK: update the copy of the size
196
+ m_subtreeHeaderCount = m_SubtreeHeaders.size();
197
+
198
+ //PCK: clear m_quantizedLeafNodes and m_leafNodes, they are temporary
199
+ m_quantizedLeafNodes.clear();
200
+ m_leafNodes.clear();
201
+ }
202
+
203
+
204
+
205
+
206
+ void btOptimizedBvh::refit(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
207
+ {
208
+ if (m_useQuantization)
209
+ {
210
+
211
+ setQuantizationValues(aabbMin,aabbMax);
212
+
213
+ updateBvhNodes(meshInterface,0,m_curNodeIndex,0);
214
+
215
+ ///now update all subtree headers
216
+
217
+ int i;
218
+ for (i=0;i<m_SubtreeHeaders.size();i++)
219
+ {
220
+ btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
221
+ subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
222
+ }
223
+
224
+ } else
225
+ {
226
+
227
+ }
228
+ }
229
+
230
+
231
+
232
+
233
+ void btOptimizedBvh::refitPartial(btStridingMeshInterface* meshInterface,const btVector3& aabbMin,const btVector3& aabbMax)
234
+ {
235
+ //incrementally initialize quantization values
236
+ btAssert(m_useQuantization);
237
+
238
+ btAssert(aabbMin.getX() > m_bvhAabbMin.getX());
239
+ btAssert(aabbMin.getY() > m_bvhAabbMin.getY());
240
+ btAssert(aabbMin.getZ() > m_bvhAabbMin.getZ());
241
+
242
+ btAssert(aabbMax.getX() < m_bvhAabbMax.getX());
243
+ btAssert(aabbMax.getY() < m_bvhAabbMax.getY());
244
+ btAssert(aabbMax.getZ() < m_bvhAabbMax.getZ());
245
+
246
+ ///we should update all quantization values, using updateBvhNodes(meshInterface);
247
+ ///but we only update chunks that overlap the given aabb
248
+
249
+ unsigned short quantizedQueryAabbMin[3];
250
+ unsigned short quantizedQueryAabbMax[3];
251
+
252
+ quantize(&quantizedQueryAabbMin[0],aabbMin,0);
253
+ quantize(&quantizedQueryAabbMax[0],aabbMax,1);
254
+
255
+ int i;
256
+ for (i=0;i<this->m_SubtreeHeaders.size();i++)
257
+ {
258
+ btBvhSubtreeInfo& subtree = m_SubtreeHeaders[i];
259
+
260
+ //PCK: unsigned instead of bool
261
+ unsigned overlap = testQuantizedAabbAgainstQuantizedAabb(quantizedQueryAabbMin,quantizedQueryAabbMax,subtree.m_quantizedAabbMin,subtree.m_quantizedAabbMax);
262
+ if (overlap != 0)
263
+ {
264
+ updateBvhNodes(meshInterface,subtree.m_rootNodeIndex,subtree.m_rootNodeIndex+subtree.m_subtreeSize,i);
265
+
266
+ subtree.setAabbFromQuantizeNode(m_quantizedContiguousNodes[subtree.m_rootNodeIndex]);
267
+ }
268
+ }
269
+
270
+ }
271
+
272
+ void btOptimizedBvh::updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index)
273
+ {
274
+ (void)index;
275
+
276
+ btAssert(m_useQuantization);
277
+
278
+ int curNodeSubPart=-1;
279
+
280
+ //get access info to trianglemesh data
281
+ const unsigned char *vertexbase = 0;
282
+ int numverts = 0;
283
+ PHY_ScalarType type = PHY_INTEGER;
284
+ int stride = 0;
285
+ const unsigned char *indexbase = 0;
286
+ int indexstride = 0;
287
+ int numfaces = 0;
288
+ PHY_ScalarType indicestype = PHY_INTEGER;
289
+
290
+ btVector3 triangleVerts[3];
291
+ btVector3 aabbMin,aabbMax;
292
+ const btVector3& meshScaling = meshInterface->getScaling();
293
+
294
+ int i;
295
+ for (i=endNode-1;i>=firstNode;i--)
296
+ {
297
+
298
+
299
+ btQuantizedBvhNode& curNode = m_quantizedContiguousNodes[i];
300
+ if (curNode.isLeafNode())
301
+ {
302
+ //recalc aabb from triangle data
303
+ int nodeSubPart = curNode.getPartId();
304
+ int nodeTriangleIndex = curNode.getTriangleIndex();
305
+ if (nodeSubPart != curNodeSubPart)
306
+ {
307
+ if (curNodeSubPart >= 0)
308
+ meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
309
+ meshInterface->getLockedReadOnlyVertexIndexBase(&vertexbase,numverts, type,stride,&indexbase,indexstride,numfaces,indicestype,nodeSubPart);
310
+
311
+ curNodeSubPart = nodeSubPart;
312
+ btAssert(indicestype==PHY_INTEGER||indicestype==PHY_SHORT);
313
+ }
314
+ //triangles->getLockedReadOnlyVertexIndexBase(vertexBase,numVerts,
315
+
316
+ unsigned int* gfxbase = (unsigned int*)(indexbase+nodeTriangleIndex*indexstride);
317
+
318
+
319
+ for (int j=2;j>=0;j--)
320
+ {
321
+
322
+ int graphicsindex = indicestype==PHY_SHORT?((unsigned short*)gfxbase)[j]:gfxbase[j];
323
+ if (type == PHY_FLOAT)
324
+ {
325
+ float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);
326
+ triangleVerts[j] = btVector3(
327
+ graphicsbase[0]*meshScaling.getX(),
328
+ graphicsbase[1]*meshScaling.getY(),
329
+ graphicsbase[2]*meshScaling.getZ());
330
+ }
331
+ else
332
+ {
333
+ double* graphicsbase = (double*)(vertexbase+graphicsindex*stride);
334
+ triangleVerts[j] = btVector3( btScalar(graphicsbase[0]*meshScaling.getX()), btScalar(graphicsbase[1]*meshScaling.getY()), btScalar(graphicsbase[2]*meshScaling.getZ()));
335
+ }
336
+ }
337
+
338
+
339
+
340
+ aabbMin.setValue(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
341
+ aabbMax.setValue(btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT),btScalar(-BT_LARGE_FLOAT));
342
+ aabbMin.setMin(triangleVerts[0]);
343
+ aabbMax.setMax(triangleVerts[0]);
344
+ aabbMin.setMin(triangleVerts[1]);
345
+ aabbMax.setMax(triangleVerts[1]);
346
+ aabbMin.setMin(triangleVerts[2]);
347
+ aabbMax.setMax(triangleVerts[2]);
348
+
349
+ quantize(&curNode.m_quantizedAabbMin[0],aabbMin,0);
350
+ quantize(&curNode.m_quantizedAabbMax[0],aabbMax,1);
351
+
352
+ } else
353
+ {
354
+ //combine aabb from both children
355
+
356
+ btQuantizedBvhNode* leftChildNode = &m_quantizedContiguousNodes[i+1];
357
+
358
+ btQuantizedBvhNode* rightChildNode = leftChildNode->isLeafNode() ? &m_quantizedContiguousNodes[i+2] :
359
+ &m_quantizedContiguousNodes[i+1+leftChildNode->getEscapeIndex()];
360
+
361
+
362
+ {
363
+ for (int i=0;i<3;i++)
364
+ {
365
+ curNode.m_quantizedAabbMin[i] = leftChildNode->m_quantizedAabbMin[i];
366
+ if (curNode.m_quantizedAabbMin[i]>rightChildNode->m_quantizedAabbMin[i])
367
+ curNode.m_quantizedAabbMin[i]=rightChildNode->m_quantizedAabbMin[i];
368
+
369
+ curNode.m_quantizedAabbMax[i] = leftChildNode->m_quantizedAabbMax[i];
370
+ if (curNode.m_quantizedAabbMax[i] < rightChildNode->m_quantizedAabbMax[i])
371
+ curNode.m_quantizedAabbMax[i] = rightChildNode->m_quantizedAabbMax[i];
372
+ }
373
+ }
374
+ }
375
+
376
+ }
377
+
378
+ if (curNodeSubPart >= 0)
379
+ meshInterface->unLockReadOnlyVertexBase(curNodeSubPart);
380
+
381
+
382
+ }
383
+
384
+ ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
385
+ btOptimizedBvh* btOptimizedBvh::deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian)
386
+ {
387
+ btQuantizedBvh* bvh = btQuantizedBvh::deSerializeInPlace(i_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
388
+
389
+ //we don't add additional data so just do a static upcast
390
+ return static_cast<btOptimizedBvh*>(bvh);
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+ }
@@ -0,0 +1,65 @@
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+ /*
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+ Bullet Continuous Collision Detection and Physics Library
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+ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
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+
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+ This software is provided 'as-is', without any express or implied warranty.
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+ In no event will the authors be held liable for any damages arising from the use of this software.
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+ Permission is granted to anyone to use this software for any purpose,
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+ including commercial applications, and to alter it and redistribute it freely,
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+ subject to the following restrictions:
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+
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+ 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.
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+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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+ 3. This notice may not be removed or altered from any source distribution.
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+ */
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+
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+ ///Contains contributions from Disney Studio's
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+
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+ #ifndef BT_OPTIMIZED_BVH_H
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+ #define BT_OPTIMIZED_BVH_H
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+
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+ #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
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+
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+ class btStridingMeshInterface;
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+
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+
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+ ///The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
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+ ATTRIBUTE_ALIGNED16(class) btOptimizedBvh : public btQuantizedBvh
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+ {
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+
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+ public:
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+ BT_DECLARE_ALIGNED_ALLOCATOR();
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+
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+ protected:
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+
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+ public:
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+
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+ btOptimizedBvh();
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+
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+ virtual ~btOptimizedBvh();
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+
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+ void build(btStridingMeshInterface* triangles,bool useQuantizedAabbCompression, const btVector3& bvhAabbMin, const btVector3& bvhAabbMax);
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+
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+ void refit(btStridingMeshInterface* triangles,const btVector3& aabbMin,const btVector3& aabbMax);
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+
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+ void refitPartial(btStridingMeshInterface* triangles,const btVector3& aabbMin, const btVector3& aabbMax);
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+
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+ void updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
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+
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+ /// Data buffer MUST be 16 byte aligned
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+ virtual bool serializeInPlace(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
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+ {
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+ return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
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+
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+ }
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+
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+ ///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
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+ static btOptimizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);
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+
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+
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+ };
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+
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+
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+ #endif //BT_OPTIMIZED_BVH_H
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+
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+