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 +1,211 @@
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 "btTriangleMeshShape.h"
17
+ #include "LinearMath/btVector3.h"
18
+ #include "LinearMath/btQuaternion.h"
19
+ #include "btStridingMeshInterface.h"
20
+ #include "LinearMath/btAabbUtil2.h"
21
+ #include "BulletCollision/CollisionShapes/btCollisionMargin.h"
22
+
23
+
24
+ btTriangleMeshShape::btTriangleMeshShape(btStridingMeshInterface* meshInterface)
25
+ : btConcaveShape (), m_meshInterface(meshInterface)
26
+ {
27
+ m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
28
+ if(meshInterface->hasPremadeAabb())
29
+ {
30
+ meshInterface->getPremadeAabb(&m_localAabbMin, &m_localAabbMax);
31
+ }
32
+ else
33
+ {
34
+ recalcLocalAabb();
35
+ }
36
+ }
37
+
38
+
39
+ btTriangleMeshShape::~btTriangleMeshShape()
40
+ {
41
+
42
+ }
43
+
44
+
45
+
46
+
47
+ void btTriangleMeshShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
48
+ {
49
+
50
+ btVector3 localHalfExtents = btScalar(0.5)*(m_localAabbMax-m_localAabbMin);
51
+ localHalfExtents += btVector3(getMargin(),getMargin(),getMargin());
52
+ btVector3 localCenter = btScalar(0.5)*(m_localAabbMax+m_localAabbMin);
53
+
54
+ btMatrix3x3 abs_b = trans.getBasis().absolute();
55
+
56
+ btVector3 center = trans(localCenter);
57
+
58
+ btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
59
+ abs_b[1].dot(localHalfExtents),
60
+ abs_b[2].dot(localHalfExtents));
61
+ aabbMin = center - extent;
62
+ aabbMax = center + extent;
63
+
64
+
65
+ }
66
+
67
+ void btTriangleMeshShape::recalcLocalAabb()
68
+ {
69
+ for (int i=0;i<3;i++)
70
+ {
71
+ btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
72
+ vec[i] = btScalar(1.);
73
+ btVector3 tmp = localGetSupportingVertex(vec);
74
+ m_localAabbMax[i] = tmp[i]+m_collisionMargin;
75
+ vec[i] = btScalar(-1.);
76
+ tmp = localGetSupportingVertex(vec);
77
+ m_localAabbMin[i] = tmp[i]-m_collisionMargin;
78
+ }
79
+ }
80
+
81
+
82
+
83
+ class SupportVertexCallback : public btTriangleCallback
84
+ {
85
+
86
+ btVector3 m_supportVertexLocal;
87
+ public:
88
+
89
+ btTransform m_worldTrans;
90
+ btScalar m_maxDot;
91
+ btVector3 m_supportVecLocal;
92
+
93
+ SupportVertexCallback(const btVector3& supportVecWorld,const btTransform& trans)
94
+ : m_supportVertexLocal(btScalar(0.),btScalar(0.),btScalar(0.)), m_worldTrans(trans) ,m_maxDot(btScalar(-BT_LARGE_FLOAT))
95
+
96
+ {
97
+ m_supportVecLocal = supportVecWorld * m_worldTrans.getBasis();
98
+ }
99
+
100
+ virtual void processTriangle( btVector3* triangle,int partId, int triangleIndex)
101
+ {
102
+ (void)partId;
103
+ (void)triangleIndex;
104
+ for (int i=0;i<3;i++)
105
+ {
106
+ btScalar dot = m_supportVecLocal.dot(triangle[i]);
107
+ if (dot > m_maxDot)
108
+ {
109
+ m_maxDot = dot;
110
+ m_supportVertexLocal = triangle[i];
111
+ }
112
+ }
113
+ }
114
+
115
+ btVector3 GetSupportVertexWorldSpace()
116
+ {
117
+ return m_worldTrans(m_supportVertexLocal);
118
+ }
119
+
120
+ btVector3 GetSupportVertexLocal()
121
+ {
122
+ return m_supportVertexLocal;
123
+ }
124
+
125
+ };
126
+
127
+
128
+ void btTriangleMeshShape::setLocalScaling(const btVector3& scaling)
129
+ {
130
+ m_meshInterface->setScaling(scaling);
131
+ recalcLocalAabb();
132
+ }
133
+
134
+ const btVector3& btTriangleMeshShape::getLocalScaling() const
135
+ {
136
+ return m_meshInterface->getScaling();
137
+ }
138
+
139
+
140
+
141
+
142
+
143
+
144
+ //#define DEBUG_TRIANGLE_MESH
145
+
146
+
147
+
148
+ void btTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const
149
+ {
150
+ struct FilteredCallback : public btInternalTriangleIndexCallback
151
+ {
152
+ btTriangleCallback* m_callback;
153
+ btVector3 m_aabbMin;
154
+ btVector3 m_aabbMax;
155
+
156
+ FilteredCallback(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax)
157
+ :m_callback(callback),
158
+ m_aabbMin(aabbMin),
159
+ m_aabbMax(aabbMax)
160
+ {
161
+ }
162
+
163
+ virtual void internalProcessTriangleIndex(btVector3* triangle,int partId,int triangleIndex)
164
+ {
165
+ if (TestTriangleAgainstAabb2(&triangle[0],m_aabbMin,m_aabbMax))
166
+ {
167
+ //check aabb in triangle-space, before doing this
168
+ m_callback->processTriangle(triangle,partId,triangleIndex);
169
+ }
170
+
171
+ }
172
+
173
+ };
174
+
175
+ FilteredCallback filterCallback(callback,aabbMin,aabbMax);
176
+
177
+ m_meshInterface->InternalProcessAllTriangles(&filterCallback,aabbMin,aabbMax);
178
+ }
179
+
180
+
181
+
182
+
183
+
184
+ void btTriangleMeshShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
185
+ {
186
+ (void)mass;
187
+ //moving concave objects not supported
188
+ btAssert(0);
189
+ inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
190
+ }
191
+
192
+
193
+ btVector3 btTriangleMeshShape::localGetSupportingVertex(const btVector3& vec) const
194
+ {
195
+ btVector3 supportVertex;
196
+
197
+ btTransform ident;
198
+ ident.setIdentity();
199
+
200
+ SupportVertexCallback supportCallback(vec,ident);
201
+
202
+ btVector3 aabbMax(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT));
203
+
204
+ processAllTriangles(&supportCallback,-aabbMax,aabbMax);
205
+
206
+ supportVertex = supportCallback.GetSupportVertexLocal();
207
+
208
+ return supportVertex;
209
+ }
210
+
211
+
@@ -0,0 +1,89 @@
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_TRIANGLE_MESH_SHAPE_H
17
+ #define BT_TRIANGLE_MESH_SHAPE_H
18
+
19
+ #include "btConcaveShape.h"
20
+ #include "btStridingMeshInterface.h"
21
+
22
+
23
+ ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
24
+ class btTriangleMeshShape : public btConcaveShape
25
+ {
26
+ protected:
27
+ btVector3 m_localAabbMin;
28
+ btVector3 m_localAabbMax;
29
+ btStridingMeshInterface* m_meshInterface;
30
+
31
+ ///btTriangleMeshShape constructor has been disabled/protected, so that users will not mistakenly use this class.
32
+ ///Don't use btTriangleMeshShape but use btBvhTriangleMeshShape instead!
33
+ btTriangleMeshShape(btStridingMeshInterface* meshInterface);
34
+
35
+ public:
36
+
37
+ virtual ~btTriangleMeshShape();
38
+
39
+ virtual btVector3 localGetSupportingVertex(const btVector3& vec) const;
40
+
41
+ virtual btVector3 localGetSupportingVertexWithoutMargin(const btVector3& vec)const
42
+ {
43
+ btAssert(0);
44
+ return localGetSupportingVertex(vec);
45
+ }
46
+
47
+ void recalcLocalAabb();
48
+
49
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
50
+
51
+ virtual void processAllTriangles(btTriangleCallback* callback,const btVector3& aabbMin,const btVector3& aabbMax) const;
52
+
53
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const;
54
+
55
+ virtual void setLocalScaling(const btVector3& scaling);
56
+ virtual const btVector3& getLocalScaling() const;
57
+
58
+ btStridingMeshInterface* getMeshInterface()
59
+ {
60
+ return m_meshInterface;
61
+ }
62
+
63
+ const btStridingMeshInterface* getMeshInterface() const
64
+ {
65
+ return m_meshInterface;
66
+ }
67
+
68
+ const btVector3& getLocalAabbMin() const
69
+ {
70
+ return m_localAabbMin;
71
+ }
72
+ const btVector3& getLocalAabbMax() const
73
+ {
74
+ return m_localAabbMax;
75
+ }
76
+
77
+
78
+
79
+ //debugging
80
+ virtual const char* getName()const {return "TRIANGLEMESH";}
81
+
82
+
83
+
84
+ };
85
+
86
+
87
+
88
+
89
+ #endif //BT_TRIANGLE_MESH_SHAPE_H
@@ -0,0 +1,182 @@
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_OBB_TRIANGLE_MINKOWSKI_H
17
+ #define BT_OBB_TRIANGLE_MINKOWSKI_H
18
+
19
+ #include "btConvexShape.h"
20
+ #include "btBoxShape.h"
21
+
22
+ ATTRIBUTE_ALIGNED16(class) btTriangleShape : public btPolyhedralConvexShape
23
+ {
24
+
25
+
26
+ public:
27
+
28
+ btVector3 m_vertices1[3];
29
+
30
+ virtual int getNumVertices() const
31
+ {
32
+ return 3;
33
+ }
34
+
35
+ btVector3& getVertexPtr(int index)
36
+ {
37
+ return m_vertices1[index];
38
+ }
39
+
40
+ const btVector3& getVertexPtr(int index) const
41
+ {
42
+ return m_vertices1[index];
43
+ }
44
+ virtual void getVertex(int index,btVector3& vert) const
45
+ {
46
+ vert = m_vertices1[index];
47
+ }
48
+
49
+ virtual int getNumEdges() const
50
+ {
51
+ return 3;
52
+ }
53
+
54
+ virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
55
+ {
56
+ getVertex(i,pa);
57
+ getVertex((i+1)%3,pb);
58
+ }
59
+
60
+
61
+ virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
62
+ {
63
+ // btAssert(0);
64
+ getAabbSlow(t,aabbMin,aabbMax);
65
+ }
66
+
67
+ btVector3 localGetSupportingVertexWithoutMargin(const btVector3& dir)const
68
+ {
69
+ btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
70
+ return m_vertices1[dots.maxAxis()];
71
+
72
+ }
73
+
74
+ virtual void batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
75
+ {
76
+ for (int i=0;i<numVectors;i++)
77
+ {
78
+ const btVector3& dir = vectors[i];
79
+ btVector3 dots(dir.dot(m_vertices1[0]), dir.dot(m_vertices1[1]), dir.dot(m_vertices1[2]));
80
+ supportVerticesOut[i] = m_vertices1[dots.maxAxis()];
81
+ }
82
+
83
+ }
84
+
85
+ btTriangleShape() : btPolyhedralConvexShape ()
86
+ {
87
+ m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
88
+ }
89
+
90
+ btTriangleShape(const btVector3& p0,const btVector3& p1,const btVector3& p2) : btPolyhedralConvexShape ()
91
+ {
92
+ m_shapeType = TRIANGLE_SHAPE_PROXYTYPE;
93
+ m_vertices1[0] = p0;
94
+ m_vertices1[1] = p1;
95
+ m_vertices1[2] = p2;
96
+ }
97
+
98
+
99
+ virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i) const
100
+ {
101
+ getPlaneEquation(i,planeNormal,planeSupport);
102
+ }
103
+
104
+ virtual int getNumPlanes() const
105
+ {
106
+ return 1;
107
+ }
108
+
109
+ void calcNormal(btVector3& normal) const
110
+ {
111
+ normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
112
+ normal.normalize();
113
+ }
114
+
115
+ virtual void getPlaneEquation(int i, btVector3& planeNormal,btVector3& planeSupport) const
116
+ {
117
+ (void)i;
118
+ calcNormal(planeNormal);
119
+ planeSupport = m_vertices1[0];
120
+ }
121
+
122
+ virtual void calculateLocalInertia(btScalar mass,btVector3& inertia) const
123
+ {
124
+ (void)mass;
125
+ btAssert(0);
126
+ inertia.setValue(btScalar(0.),btScalar(0.),btScalar(0.));
127
+ }
128
+
129
+ virtual bool isInside(const btVector3& pt,btScalar tolerance) const
130
+ {
131
+ btVector3 normal;
132
+ calcNormal(normal);
133
+ //distance to plane
134
+ btScalar dist = pt.dot(normal);
135
+ btScalar planeconst = m_vertices1[0].dot(normal);
136
+ dist -= planeconst;
137
+ if (dist >= -tolerance && dist <= tolerance)
138
+ {
139
+ //inside check on edge-planes
140
+ int i;
141
+ for (i=0;i<3;i++)
142
+ {
143
+ btVector3 pa,pb;
144
+ getEdge(i,pa,pb);
145
+ btVector3 edge = pb-pa;
146
+ btVector3 edgeNormal = edge.cross(normal);
147
+ edgeNormal.normalize();
148
+ btScalar dist = pt.dot( edgeNormal);
149
+ btScalar edgeConst = pa.dot(edgeNormal);
150
+ dist -= edgeConst;
151
+ if (dist < -tolerance)
152
+ return false;
153
+ }
154
+
155
+ return true;
156
+ }
157
+
158
+ return false;
159
+ }
160
+ //debugging
161
+ virtual const char* getName()const
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+ {
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+ return "Triangle";
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+ }
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+
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+ virtual int getNumPreferredPenetrationDirections() const
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+ {
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+ return 2;
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+ }
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+
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+ virtual void getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
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+ {
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+ calcNormal(penetrationVector);
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+ if (index)
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+ penetrationVector *= btScalar(-1.);
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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_OBB_TRIANGLE_MINKOWSKI_H
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+
@@ -0,0 +1,160 @@
1
+ /*
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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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+ #include "btUniformScalingShape.h"
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+
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+ btUniformScalingShape::btUniformScalingShape( btConvexShape* convexChildShape,btScalar uniformScalingFactor):
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+ btConvexShape (), m_childConvexShape(convexChildShape),
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+ m_uniformScalingFactor(uniformScalingFactor)
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+ {
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+ m_shapeType = UNIFORM_SCALING_SHAPE_PROXYTYPE;
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+ }
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+
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+ btUniformScalingShape::~btUniformScalingShape()
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+ {
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+ }
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+
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+
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+ btVector3 btUniformScalingShape::localGetSupportingVertexWithoutMargin(const btVector3& vec)const
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+ {
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+ btVector3 tmpVertex;
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+ tmpVertex = m_childConvexShape->localGetSupportingVertexWithoutMargin(vec);
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+ return tmpVertex*m_uniformScalingFactor;
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+ }
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+
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+ void btUniformScalingShape::batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
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+ {
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+ m_childConvexShape->batchedUnitVectorGetSupportingVertexWithoutMargin(vectors,supportVerticesOut,numVectors);
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+ int i;
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+ for (i=0;i<numVectors;i++)
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+ {
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+ supportVerticesOut[i] = supportVerticesOut[i] * m_uniformScalingFactor;
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+ }
45
+ }
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+
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+
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+ btVector3 btUniformScalingShape::localGetSupportingVertex(const btVector3& vec)const
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+ {
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+ btVector3 tmpVertex;
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+ tmpVertex = m_childConvexShape->localGetSupportingVertex(vec);
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+ return tmpVertex*m_uniformScalingFactor;
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+ }
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+
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+
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+ void btUniformScalingShape::calculateLocalInertia(btScalar mass,btVector3& inertia) const
57
+ {
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+
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+ ///this linear upscaling is not realistic, but we don't deal with large mass ratios...
60
+ btVector3 tmpInertia;
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+ m_childConvexShape->calculateLocalInertia(mass,tmpInertia);
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+ inertia = tmpInertia * m_uniformScalingFactor;
63
+ }
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+
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+
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+ ///getAabb's default implementation is brute force, expected derived classes to implement a fast dedicated version
67
+ void btUniformScalingShape::getAabb(const btTransform& trans,btVector3& aabbMin,btVector3& aabbMax) const
68
+ {
69
+ getAabbSlow(trans,aabbMin,aabbMax);
70
+
71
+ }
72
+
73
+ void btUniformScalingShape::getAabbSlow(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const
74
+ {
75
+ #if 1
76
+ btVector3 _directions[] =
77
+ {
78
+ btVector3( 1., 0., 0.),
79
+ btVector3( 0., 1., 0.),
80
+ btVector3( 0., 0., 1.),
81
+ btVector3( -1., 0., 0.),
82
+ btVector3( 0., -1., 0.),
83
+ btVector3( 0., 0., -1.)
84
+ };
85
+
86
+ btVector3 _supporting[] =
87
+ {
88
+ btVector3( 0., 0., 0.),
89
+ btVector3( 0., 0., 0.),
90
+ btVector3( 0., 0., 0.),
91
+ btVector3( 0., 0., 0.),
92
+ btVector3( 0., 0., 0.),
93
+ btVector3( 0., 0., 0.)
94
+ };
95
+
96
+ for (int i=0;i<6;i++)
97
+ {
98
+ _directions[i] = _directions[i]*t.getBasis();
99
+ }
100
+
101
+ batchedUnitVectorGetSupportingVertexWithoutMargin(_directions, _supporting, 6);
102
+
103
+ btVector3 aabbMin1(0,0,0),aabbMax1(0,0,0);
104
+
105
+ for ( int i = 0; i < 3; ++i )
106
+ {
107
+ aabbMax1[i] = t(_supporting[i])[i];
108
+ aabbMin1[i] = t(_supporting[i + 3])[i];
109
+ }
110
+ btVector3 marginVec(getMargin(),getMargin(),getMargin());
111
+ aabbMin = aabbMin1-marginVec;
112
+ aabbMax = aabbMax1+marginVec;
113
+
114
+ #else
115
+
116
+ btScalar margin = getMargin();
117
+ for (int i=0;i<3;i++)
118
+ {
119
+ btVector3 vec(btScalar(0.),btScalar(0.),btScalar(0.));
120
+ vec[i] = btScalar(1.);
121
+ btVector3 sv = localGetSupportingVertex(vec*t.getBasis());
122
+ btVector3 tmp = t(sv);
123
+ aabbMax[i] = tmp[i]+margin;
124
+ vec[i] = btScalar(-1.);
125
+ sv = localGetSupportingVertex(vec*t.getBasis());
126
+ tmp = t(sv);
127
+ aabbMin[i] = tmp[i]-margin;
128
+ }
129
+
130
+ #endif
131
+ }
132
+
133
+ void btUniformScalingShape::setLocalScaling(const btVector3& scaling)
134
+ {
135
+ m_childConvexShape->setLocalScaling(scaling);
136
+ }
137
+
138
+ const btVector3& btUniformScalingShape::getLocalScaling() const
139
+ {
140
+ return m_childConvexShape->getLocalScaling();
141
+ }
142
+
143
+ void btUniformScalingShape::setMargin(btScalar margin)
144
+ {
145
+ m_childConvexShape->setMargin(margin);
146
+ }
147
+ btScalar btUniformScalingShape::getMargin() const
148
+ {
149
+ return m_childConvexShape->getMargin() * m_uniformScalingFactor;
150
+ }
151
+
152
+ int btUniformScalingShape::getNumPreferredPenetrationDirections() const
153
+ {
154
+ return m_childConvexShape->getNumPreferredPenetrationDirections();
155
+ }
156
+
157
+ void btUniformScalingShape::getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
158
+ {
159
+ m_childConvexShape->getPreferredPenetrationDirection(index,penetrationVector);
160
+ }