ruby-bullet 0.0.2-x86-mingw32

data/bindings/bullet/interface/bullet_wrap.h

@@ -0,0 +1,106 @@
+/* ----------------------------------------------------------------------------
+ * This file was automatically generated by SWIG (http://www.swig.org).
+ * Version 2.0.7
+ * 
+ * This file is not intended to be easily readable and contains a number of 
+ * coding conventions designed to improve portability and efficiency. Do not make
+ * changes to this file unless you know what you are doing--modify the SWIG 
+ * interface file instead. 
+ * ----------------------------------------------------------------------------- */
+
+#ifndef SWIG_Bullet_WRAP_H_
+#define SWIG_Bullet_WRAP_H_
+
+namespace Swig {
+  class Director;
+}
+
+
+class SwigDirector_btMotionState : public btMotionState, public Swig::Director {
+
+public:
+    SwigDirector_btMotionState(VALUE self);
+    virtual ~SwigDirector_btMotionState();
+    virtual void getWorldTransform(btTransform &worldTrans) const;
+    virtual void setWorldTransform(btTransform const &worldTrans);
+};
+
+
+struct SwigDirector_btDefaultMotionState : public btDefaultMotionState, public Swig::Director {
+
+public:
+    SwigDirector_btDefaultMotionState(VALUE self, btTransform const &startTrans = btTransform::getIdentity(), btTransform const &centerOfMassOffset = btTransform::getIdentity());
+    virtual ~SwigDirector_btDefaultMotionState();
+    virtual void getWorldTransform(btTransform &centerOfMassWorldTrans) const;
+    virtual void setWorldTransform(btTransform const &centerOfMassWorldTrans);
+};
+
+
+class SwigDirector_btIDebugDraw : public btIDebugDraw, public Swig::Director {
+
+public:
+    SwigDirector_btIDebugDraw(VALUE self);
+    virtual ~SwigDirector_btIDebugDraw();
+    virtual void drawLine(btVector3 const &from, btVector3 const &to, btVector3 const &color);
+    virtual void drawLine(btVector3 const &from, btVector3 const &to, btVector3 const &fromColor, btVector3 const &toColor);
+    virtual void drawSphere(btScalar radius, btTransform const &transform, btVector3 const &color);
+    virtual void drawSphere(btVector3 const &p, btScalar radius, btVector3 const &color);
+    virtual void drawTriangle(btVector3 const &v0, btVector3 const &v1, btVector3 const &v2, btVector3 const &arg0, btVector3 const &arg1, btVector3 const &arg2, btVector3 const &color, btScalar alpha);
+    virtual void drawTriangle(btVector3 const &v0, btVector3 const &v1, btVector3 const &v2, btVector3 const &color, btScalar arg0);
+    virtual void drawContactPoint(btVector3 const &PointOnB, btVector3 const &normalOnB, btScalar distance, int lifeTime, btVector3 const &color);
+    virtual void reportErrorWarning(char const *warningString);
+    virtual void draw3dText(btVector3 const &location, char const *textString);
+    virtual void setDebugMode(int debugMode);
+    virtual int getDebugMode() const;
+    virtual void drawAabb(btVector3 const &from, btVector3 const &to, btVector3 const &color);
+    virtual void drawTransform(btTransform const &transform, btScalar orthoLen);
+    virtual void drawArc(btVector3 const &center, btVector3 const &normal, btVector3 const &axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, btVector3 const &color, bool drawSect, btScalar stepDegrees = btScalar(10.f));
+    virtual void drawSpherePatch(btVector3 const &center, btVector3 const &up, btVector3 const &axis, btScalar radius, btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, btVector3 const &color, btScalar stepDegrees = btScalar(10.f));
+    virtual void drawBox(btVector3 const &bbMin, btVector3 const &bbMax, btVector3 const &color);
+    virtual void drawBox(btVector3 const &bbMin, btVector3 const &bbMax, btTransform const &trans, btVector3 const &color);
+    virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, btTransform const &transform, btVector3 const &color);
+    virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, btTransform const &transform, btVector3 const &color);
+    virtual void drawCone(btScalar radius, btScalar height, int upAxis, btTransform const &transform, btVector3 const &color);
+    virtual void drawPlane(btVector3 const &planeNormal, btScalar planeConst, btTransform const &transform, btVector3 const &color);
+};
+
+
+struct SwigDirector_RayResultCallback : public RayResultCallback, public Swig::Director {
+
+public:
+    SwigDirector_RayResultCallback(VALUE self);
+    virtual ~SwigDirector_RayResultCallback();
+    virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
+    virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace);
+};
+
+
+struct SwigDirector_ClosestRayResultCallback : public ClosestRayResultCallback, public Swig::Director {
+
+public:
+    SwigDirector_ClosestRayResultCallback(VALUE self, btVector3 const &rayFromWorld, btVector3 const &rayToWorld);
+    virtual ~SwigDirector_ClosestRayResultCallback();
+    virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
+    virtual btScalar addSingleResult(btCollisionWorld::LocalRayResult &rayResult, bool normalInWorldSpace);
+};
+
+
+struct SwigDirector_ContactResultCallback : public ContactResultCallback, public Swig::Director {
+
+public:
+    SwigDirector_ContactResultCallback(VALUE self);
+    virtual bool needsCollision(btBroadphaseProxy *proxy0) const;
+    virtual btScalar addSingleResult(btManifoldPoint &cp, btCollisionObject const *colObj0, int partId0, int index0, btCollisionObject const *colObj1, int partId1, int index1);
+};
+
+
+class SwigDirector_TickListener : public TickListener, public Swig::Director {
+
+public:
+    SwigDirector_TickListener(VALUE self);
+    virtual void preTickCallback(btScalar arg0);
+    virtual void tickCallback(btScalar arg0);
+};
+
+
+#endif

data/bindings/bullet/src/TickListener.h

@@ -0,0 +1,22 @@
+class TickListener
+{
+public:
+	static void bulletPreTickCallback(btDynamicsWorld *world, btScalar timeStep) {
+		//VALUE userData = (VALUE)(world->getWorldUserInfo());
+		//rb_funcall(userData, rb_intern("preTickCallback"), 1, rb_float_new(timeStep));
+
+		TickListener* listener = (TickListener*)(world->getWorldUserInfo());
+		listener->preTickCallback(timeStep);
+	}
+
+	static void bulletTickCallback(btDynamicsWorld *world, btScalar timeStep) {
+		//VALUE userData = (VALUE)(world->getWorldUserInfo());
+		//rb_funcall(userData, rb_intern("tickCallback"), 1, rb_float_new(timeStep));
+
+		TickListener* listener = (TickListener*)(world->getWorldUserInfo());
+		listener->tickCallback(timeStep);
+	}
+
+	virtual void preTickCallback(btScalar){}
+	virtual void tickCallback(btScalar){}
+};

data/deps/include/bullet/Bullet-C-Api.h

@@ -0,0 +1,176 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+/*
+	Draft high-level generic physics C-API. For low-level access, use the physics SDK native API's.
+	Work in progress, functionality will be added on demand.
+
+	If possible, use the richer Bullet C++ API, by including "btBulletDynamicsCommon.h"
+*/
+
+#ifndef BULLET_C_API_H
+#define BULLET_C_API_H
+
+#define PL_DECLARE_HANDLE(name) typedef struct name##__ { int unused; } *name
+
+#ifdef BT_USE_DOUBLE_PRECISION
+typedef double	plReal;
+#else
+typedef float	plReal;
+#endif
+
+typedef plReal	plVector3[3];
+typedef plReal	plQuaternion[4];
+
+#ifdef __cplusplus
+extern "C" { 
+#endif
+
+/**	Particular physics SDK (C-API) */
+	PL_DECLARE_HANDLE(plPhysicsSdkHandle);
+
+/** 	Dynamics world, belonging to some physics SDK (C-API)*/
+	PL_DECLARE_HANDLE(plDynamicsWorldHandle);
+
+/** Rigid Body that can be part of a Dynamics World (C-API)*/	
+	PL_DECLARE_HANDLE(plRigidBodyHandle);
+
+/** 	Collision Shape/Geometry, property of a Rigid Body (C-API)*/
+	PL_DECLARE_HANDLE(plCollisionShapeHandle);
+
+/** Constraint for Rigid Bodies (C-API)*/
+	PL_DECLARE_HANDLE(plConstraintHandle);
+
+/** Triangle Mesh interface (C-API)*/
+	PL_DECLARE_HANDLE(plMeshInterfaceHandle);
+
+/** Broadphase Scene/Proxy Handles (C-API)*/
+	PL_DECLARE_HANDLE(plCollisionBroadphaseHandle);
+	PL_DECLARE_HANDLE(plBroadphaseProxyHandle);
+	PL_DECLARE_HANDLE(plCollisionWorldHandle);
+
+/**
+	Create and Delete a Physics SDK	
+*/
+
+	extern	plPhysicsSdkHandle	plNewBulletSdk(void); //this could be also another sdk, like ODE, PhysX etc.
+	extern	void		plDeletePhysicsSdk(plPhysicsSdkHandle	physicsSdk);
+
+/** Collision World, not strictly necessary, you can also just create a Dynamics World with Rigid Bodies which internally manages the Collision World with Collision Objects */
+
+	typedef void(*btBroadphaseCallback)(void* clientData, void* object1,void* object2);
+
+	extern plCollisionBroadphaseHandle	plCreateSapBroadphase(btBroadphaseCallback beginCallback,btBroadphaseCallback endCallback);
+
+	extern void	plDestroyBroadphase(plCollisionBroadphaseHandle bp);
+
+	extern 	plBroadphaseProxyHandle plCreateProxy(plCollisionBroadphaseHandle bp, void* clientData, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
+
+	extern void plDestroyProxy(plCollisionBroadphaseHandle bp, plBroadphaseProxyHandle proxyHandle);
+
+	extern void plSetBoundingBox(plBroadphaseProxyHandle proxyHandle, plReal minX,plReal minY,plReal minZ, plReal maxX,plReal maxY, plReal maxZ);
+
+/* todo: add pair cache support with queries like add/remove/find pair */
+	
+	extern plCollisionWorldHandle plCreateCollisionWorld(plPhysicsSdkHandle physicsSdk);
+
+/* todo: add/remove objects */
+	
+
+/* Dynamics World */
+
+	extern  plDynamicsWorldHandle plCreateDynamicsWorld(plPhysicsSdkHandle physicsSdk);
+
+	extern  void           plDeleteDynamicsWorld(plDynamicsWorldHandle world);
+
+	extern	void	plStepSimulation(plDynamicsWorldHandle,	plReal	timeStep);
+
+	extern  void plAddRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
+
+	extern  void plRemoveRigidBody(plDynamicsWorldHandle world, plRigidBodyHandle object);
+
+
+/* Rigid Body  */
+
+	extern  plRigidBodyHandle plCreateRigidBody(	void* user_data,  float mass, plCollisionShapeHandle cshape );
+
+	extern  void plDeleteRigidBody(plRigidBodyHandle body);
+
+
+/* Collision Shape definition */
+
+	extern  plCollisionShapeHandle plNewSphereShape(plReal radius);
+	extern  plCollisionShapeHandle plNewBoxShape(plReal x, plReal y, plReal z);
+	extern  plCollisionShapeHandle plNewCapsuleShape(plReal radius, plReal height);	
+	extern  plCollisionShapeHandle plNewConeShape(plReal radius, plReal height);
+	extern  plCollisionShapeHandle plNewCylinderShape(plReal radius, plReal height);
+	extern	plCollisionShapeHandle plNewCompoundShape(void);
+	extern	void	plAddChildShape(plCollisionShapeHandle compoundShape,plCollisionShapeHandle childShape, plVector3 childPos,plQuaternion childOrn);
+
+	extern  void plDeleteShape(plCollisionShapeHandle shape);
+
+	/* Convex Meshes */
+	extern  plCollisionShapeHandle plNewConvexHullShape(void);
+	extern  void		plAddVertex(plCollisionShapeHandle convexHull, plReal x,plReal y,plReal z);
+/* Concave static triangle meshes */
+	extern  plMeshInterfaceHandle		   plNewMeshInterface(void);
+	extern  void		plAddTriangle(plMeshInterfaceHandle meshHandle, plVector3 v0,plVector3 v1,plVector3 v2);
+	extern  plCollisionShapeHandle plNewStaticTriangleMeshShape(plMeshInterfaceHandle);
+
+	extern  void plSetScaling(plCollisionShapeHandle shape, plVector3 scaling);
+
+/* SOLID has Response Callback/Table/Management */
+/* PhysX has Triggers, User Callbacks and filtering */
+/* ODE has the typedef void dNearCallback (void *data, dGeomID o1, dGeomID o2); */
+
+/*	typedef void plUpdatedPositionCallback(void* userData, plRigidBodyHandle	rbHandle, plVector3 pos); */
+/*	typedef void plUpdatedOrientationCallback(void* userData, plRigidBodyHandle	rbHandle, plQuaternion orientation); */
+
+	/* get world transform */
+	extern void	plGetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
+	extern void	plGetPosition(plRigidBodyHandle object,plVector3 position);
+	extern void plGetOrientation(plRigidBodyHandle object,plQuaternion orientation);
+
+	/* set world transform (position/orientation) */
+	extern  void plSetPosition(plRigidBodyHandle object, const plVector3 position);
+	extern  void plSetOrientation(plRigidBodyHandle object, const plQuaternion orientation);
+	extern	void plSetEuler(plReal yaw,plReal pitch,plReal roll, plQuaternion orient);
+	extern	void plSetOpenGLMatrix(plRigidBodyHandle object, plReal* matrix);
+
+	typedef struct plRayCastResult {
+		plRigidBodyHandle		m_body;  
+		plCollisionShapeHandle	m_shape; 		
+		plVector3				m_positionWorld; 		
+		plVector3				m_normalWorld;
+	} plRayCastResult;
+
+	extern  int plRayCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plRayCastResult res);
+
+	/* Sweep API */
+
+	/* extern  plRigidBodyHandle plObjectCast(plDynamicsWorldHandle world, const plVector3 rayStart, const plVector3 rayEnd, plVector3 hitpoint, plVector3 normal); */
+
+	/* Continuous Collision Detection API */
+	
+	// needed for source/blender/blenkernel/intern/collision.c
+	double plNearestPoints(float p1[3], float p2[3], float p3[3], float q1[3], float q2[3], float q3[3], float *pa, float *pb, float normal[3]);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif //BULLET_C_API_H
+

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -0,0 +1,37 @@
+
+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+
+//
+// btAxisSweep3
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
+//
+// 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.
+//
+// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+//
+// 3. This notice may not be removed or altered from any source distribution.
+#include "btAxisSweep3.h"
+
+
+btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned short int>(worldAabbMin,worldAabbMax,0xfffe,0xffff,maxHandles,pairCache,disableRaycastAccelerator)
+{
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 32767);
+
+}
+
+
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin,const btVector3& worldAabbMax, unsigned int maxHandles , btOverlappingPairCache* pairCache , bool disableRaycastAccelerator)
+:btAxisSweep3Internal<unsigned int>(worldAabbMin,worldAabbMax,0xfffffffe,0x7fffffff,maxHandles,pairCache,disableRaycastAccelerator)
+{
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 2147483647);
+}