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 +1,498 @@
1
+ /*! \file gim_box_set.h
2
+ \author Francisco Leon Najera
3
+ */
4
+ /*
5
+ This source file is part of GIMPACT Library.
6
+
7
+ For the latest info, see http://gimpact.sourceforge.net/
8
+
9
+ Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
10
+ email: projectileman@yahoo.com
11
+
12
+
13
+ This software is provided 'as-is', without any express or implied warranty.
14
+ In no event will the authors be held liable for any damages arising from the use of this software.
15
+ Permission is granted to anyone to use this software for any purpose,
16
+ including commercial applications, and to alter it and redistribute it freely,
17
+ subject to the following restrictions:
18
+
19
+ 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.
20
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
21
+ 3. This notice may not be removed or altered from any source distribution.
22
+ */
23
+ #include "btGImpactBvh.h"
24
+ #include "LinearMath/btQuickprof.h"
25
+
26
+ #ifdef TRI_COLLISION_PROFILING
27
+
28
+ btClock g_tree_clock;
29
+
30
+ float g_accum_tree_collision_time = 0;
31
+ int g_count_traversing = 0;
32
+
33
+
34
+ void bt_begin_gim02_tree_time()
35
+ {
36
+ g_tree_clock.reset();
37
+ }
38
+
39
+ void bt_end_gim02_tree_time()
40
+ {
41
+ g_accum_tree_collision_time += g_tree_clock.getTimeMicroseconds();
42
+ g_count_traversing++;
43
+ }
44
+
45
+ //! Gets the average time in miliseconds of tree collisions
46
+ float btGImpactBvh::getAverageTreeCollisionTime()
47
+ {
48
+ if(g_count_traversing == 0) return 0;
49
+
50
+ float avgtime = g_accum_tree_collision_time;
51
+ avgtime /= (float)g_count_traversing;
52
+
53
+ g_accum_tree_collision_time = 0;
54
+ g_count_traversing = 0;
55
+ return avgtime;
56
+
57
+ // float avgtime = g_count_traversing;
58
+ // g_count_traversing = 0;
59
+ // return avgtime;
60
+
61
+ }
62
+
63
+ #endif //TRI_COLLISION_PROFILING
64
+
65
+ /////////////////////// btBvhTree /////////////////////////////////
66
+
67
+ int btBvhTree::_calc_splitting_axis(
68
+ GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
69
+ {
70
+
71
+ int i;
72
+
73
+ btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
74
+ btVector3 variance(btScalar(0.),btScalar(0.),btScalar(0.));
75
+ int numIndices = endIndex-startIndex;
76
+
77
+ for (i=startIndex;i<endIndex;i++)
78
+ {
79
+ btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
80
+ primitive_boxes[i].m_bound.m_min);
81
+ means+=center;
82
+ }
83
+ means *= (btScalar(1.)/(btScalar)numIndices);
84
+
85
+ for (i=startIndex;i<endIndex;i++)
86
+ {
87
+ btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
88
+ primitive_boxes[i].m_bound.m_min);
89
+ btVector3 diff2 = center-means;
90
+ diff2 = diff2 * diff2;
91
+ variance += diff2;
92
+ }
93
+ variance *= (btScalar(1.)/ ((btScalar)numIndices-1) );
94
+
95
+ return variance.maxAxis();
96
+ }
97
+
98
+
99
+ int btBvhTree::_sort_and_calc_splitting_index(
100
+ GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex,
101
+ int endIndex, int splitAxis)
102
+ {
103
+ int i;
104
+ int splitIndex =startIndex;
105
+ int numIndices = endIndex - startIndex;
106
+
107
+ // average of centers
108
+ btScalar splitValue = 0.0f;
109
+
110
+ btVector3 means(btScalar(0.),btScalar(0.),btScalar(0.));
111
+ for (i=startIndex;i<endIndex;i++)
112
+ {
113
+ btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
114
+ primitive_boxes[i].m_bound.m_min);
115
+ means+=center;
116
+ }
117
+ means *= (btScalar(1.)/(btScalar)numIndices);
118
+
119
+ splitValue = means[splitAxis];
120
+
121
+
122
+ //sort leafNodes so all values larger then splitValue comes first, and smaller values start from 'splitIndex'.
123
+ for (i=startIndex;i<endIndex;i++)
124
+ {
125
+ btVector3 center = btScalar(0.5)*(primitive_boxes[i].m_bound.m_max +
126
+ primitive_boxes[i].m_bound.m_min);
127
+ if (center[splitAxis] > splitValue)
128
+ {
129
+ //swap
130
+ primitive_boxes.swap(i,splitIndex);
131
+ //swapLeafNodes(i,splitIndex);
132
+ splitIndex++;
133
+ }
134
+ }
135
+
136
+ //if the splitIndex causes unbalanced trees, fix this by using the center in between startIndex and endIndex
137
+ //otherwise the tree-building might fail due to stack-overflows in certain cases.
138
+ //unbalanced1 is unsafe: it can cause stack overflows
139
+ //bool unbalanced1 = ((splitIndex==startIndex) || (splitIndex == (endIndex-1)));
140
+
141
+ //unbalanced2 should work too: always use center (perfect balanced trees)
142
+ //bool unbalanced2 = true;
143
+
144
+ //this should be safe too:
145
+ int rangeBalancedIndices = numIndices/3;
146
+ bool unbalanced = ((splitIndex<=(startIndex+rangeBalancedIndices)) || (splitIndex >=(endIndex-1-rangeBalancedIndices)));
147
+
148
+ if (unbalanced)
149
+ {
150
+ splitIndex = startIndex+ (numIndices>>1);
151
+ }
152
+
153
+ btAssert(!((splitIndex==startIndex) || (splitIndex == (endIndex))));
154
+
155
+ return splitIndex;
156
+
157
+ }
158
+
159
+
160
+ void btBvhTree::_build_sub_tree(GIM_BVH_DATA_ARRAY & primitive_boxes, int startIndex, int endIndex)
161
+ {
162
+ int curIndex = m_num_nodes;
163
+ m_num_nodes++;
164
+
165
+ btAssert((endIndex-startIndex)>0);
166
+
167
+ if ((endIndex-startIndex)==1)
168
+ {
169
+ //We have a leaf node
170
+ setNodeBound(curIndex,primitive_boxes[startIndex].m_bound);
171
+ m_node_array[curIndex].setDataIndex(primitive_boxes[startIndex].m_data);
172
+
173
+ return;
174
+ }
175
+ //calculate Best Splitting Axis and where to split it. Sort the incoming 'leafNodes' array within range 'startIndex/endIndex'.
176
+
177
+ //split axis
178
+ int splitIndex = _calc_splitting_axis(primitive_boxes,startIndex,endIndex);
179
+
180
+ splitIndex = _sort_and_calc_splitting_index(
181
+ primitive_boxes,startIndex,endIndex,
182
+ splitIndex//split axis
183
+ );
184
+
185
+
186
+ //calc this node bounding box
187
+
188
+ btAABB node_bound;
189
+ node_bound.invalidate();
190
+
191
+ for (int i=startIndex;i<endIndex;i++)
192
+ {
193
+ node_bound.merge(primitive_boxes[i].m_bound);
194
+ }
195
+
196
+ setNodeBound(curIndex,node_bound);
197
+
198
+
199
+ //build left branch
200
+ _build_sub_tree(primitive_boxes, startIndex, splitIndex );
201
+
202
+
203
+ //build right branch
204
+ _build_sub_tree(primitive_boxes, splitIndex ,endIndex);
205
+
206
+ m_node_array[curIndex].setEscapeIndex(m_num_nodes - curIndex);
207
+
208
+
209
+ }
210
+
211
+ //! stackless build tree
212
+ void btBvhTree::build_tree(
213
+ GIM_BVH_DATA_ARRAY & primitive_boxes)
214
+ {
215
+ // initialize node count to 0
216
+ m_num_nodes = 0;
217
+ // allocate nodes
218
+ m_node_array.resize(primitive_boxes.size()*2);
219
+
220
+ _build_sub_tree(primitive_boxes, 0, primitive_boxes.size());
221
+ }
222
+
223
+ ////////////////////////////////////class btGImpactBvh
224
+
225
+ void btGImpactBvh::refit()
226
+ {
227
+ int nodecount = getNodeCount();
228
+ while(nodecount--)
229
+ {
230
+ if(isLeafNode(nodecount))
231
+ {
232
+ btAABB leafbox;
233
+ m_primitive_manager->get_primitive_box(getNodeData(nodecount),leafbox);
234
+ setNodeBound(nodecount,leafbox);
235
+ }
236
+ else
237
+ {
238
+ //const GIM_BVH_TREE_NODE * nodepointer = get_node_pointer(nodecount);
239
+ //get left bound
240
+ btAABB bound;
241
+ bound.invalidate();
242
+
243
+ btAABB temp_box;
244
+
245
+ int child_node = getLeftNode(nodecount);
246
+ if(child_node)
247
+ {
248
+ getNodeBound(child_node,temp_box);
249
+ bound.merge(temp_box);
250
+ }
251
+
252
+ child_node = getRightNode(nodecount);
253
+ if(child_node)
254
+ {
255
+ getNodeBound(child_node,temp_box);
256
+ bound.merge(temp_box);
257
+ }
258
+
259
+ setNodeBound(nodecount,bound);
260
+ }
261
+ }
262
+ }
263
+
264
+ //! this rebuild the entire set
265
+ void btGImpactBvh::buildSet()
266
+ {
267
+ //obtain primitive boxes
268
+ GIM_BVH_DATA_ARRAY primitive_boxes;
269
+ primitive_boxes.resize(m_primitive_manager->get_primitive_count());
270
+
271
+ for (int i = 0;i<primitive_boxes.size() ;i++ )
272
+ {
273
+ m_primitive_manager->get_primitive_box(i,primitive_boxes[i].m_bound);
274
+ primitive_boxes[i].m_data = i;
275
+ }
276
+
277
+ m_box_tree.build_tree(primitive_boxes);
278
+ }
279
+
280
+ //! returns the indices of the primitives in the m_primitive_manager
281
+ bool btGImpactBvh::boxQuery(const btAABB & box, btAlignedObjectArray<int> & collided_results) const
282
+ {
283
+ int curIndex = 0;
284
+ int numNodes = getNodeCount();
285
+
286
+ while (curIndex < numNodes)
287
+ {
288
+ btAABB bound;
289
+ getNodeBound(curIndex,bound);
290
+
291
+ //catch bugs in tree data
292
+
293
+ bool aabbOverlap = bound.has_collision(box);
294
+ bool isleafnode = isLeafNode(curIndex);
295
+
296
+ if (isleafnode && aabbOverlap)
297
+ {
298
+ collided_results.push_back(getNodeData(curIndex));
299
+ }
300
+
301
+ if (aabbOverlap || isleafnode)
302
+ {
303
+ //next subnode
304
+ curIndex++;
305
+ }
306
+ else
307
+ {
308
+ //skip node
309
+ curIndex+= getEscapeNodeIndex(curIndex);
310
+ }
311
+ }
312
+ if(collided_results.size()>0) return true;
313
+ return false;
314
+ }
315
+
316
+
317
+
318
+ //! returns the indices of the primitives in the m_primitive_manager
319
+ bool btGImpactBvh::rayQuery(
320
+ const btVector3 & ray_dir,const btVector3 & ray_origin ,
321
+ btAlignedObjectArray<int> & collided_results) const
322
+ {
323
+ int curIndex = 0;
324
+ int numNodes = getNodeCount();
325
+
326
+ while (curIndex < numNodes)
327
+ {
328
+ btAABB bound;
329
+ getNodeBound(curIndex,bound);
330
+
331
+ //catch bugs in tree data
332
+
333
+ bool aabbOverlap = bound.collide_ray(ray_origin,ray_dir);
334
+ bool isleafnode = isLeafNode(curIndex);
335
+
336
+ if (isleafnode && aabbOverlap)
337
+ {
338
+ collided_results.push_back(getNodeData( curIndex));
339
+ }
340
+
341
+ if (aabbOverlap || isleafnode)
342
+ {
343
+ //next subnode
344
+ curIndex++;
345
+ }
346
+ else
347
+ {
348
+ //skip node
349
+ curIndex+= getEscapeNodeIndex(curIndex);
350
+ }
351
+ }
352
+ if(collided_results.size()>0) return true;
353
+ return false;
354
+ }
355
+
356
+
357
+ SIMD_FORCE_INLINE bool _node_collision(
358
+ btGImpactBvh * boxset0, btGImpactBvh * boxset1,
359
+ const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
360
+ int node0 ,int node1, bool complete_primitive_tests)
361
+ {
362
+ btAABB box0;
363
+ boxset0->getNodeBound(node0,box0);
364
+ btAABB box1;
365
+ boxset1->getNodeBound(node1,box1);
366
+
367
+ return box0.overlapping_trans_cache(box1,trans_cache_1to0,complete_primitive_tests );
368
+ // box1.appy_transform_trans_cache(trans_cache_1to0);
369
+ // return box0.has_collision(box1);
370
+
371
+ }
372
+
373
+
374
+ //stackless recursive collision routine
375
+ static void _find_collision_pairs_recursive(
376
+ btGImpactBvh * boxset0, btGImpactBvh * boxset1,
377
+ btPairSet * collision_pairs,
378
+ const BT_BOX_BOX_TRANSFORM_CACHE & trans_cache_1to0,
379
+ int node0, int node1, bool complete_primitive_tests)
380
+ {
381
+
382
+
383
+
384
+ if( _node_collision(
385
+ boxset0,boxset1,trans_cache_1to0,
386
+ node0,node1,complete_primitive_tests) ==false) return;//avoid colliding internal nodes
387
+
388
+ if(boxset0->isLeafNode(node0))
389
+ {
390
+ if(boxset1->isLeafNode(node1))
391
+ {
392
+ // collision result
393
+ collision_pairs->push_pair(
394
+ boxset0->getNodeData(node0),boxset1->getNodeData(node1));
395
+ return;
396
+ }
397
+ else
398
+ {
399
+
400
+ //collide left recursive
401
+
402
+ _find_collision_pairs_recursive(
403
+ boxset0,boxset1,
404
+ collision_pairs,trans_cache_1to0,
405
+ node0,boxset1->getLeftNode(node1),false);
406
+
407
+ //collide right recursive
408
+ _find_collision_pairs_recursive(
409
+ boxset0,boxset1,
410
+ collision_pairs,trans_cache_1to0,
411
+ node0,boxset1->getRightNode(node1),false);
412
+
413
+
414
+ }
415
+ }
416
+ else
417
+ {
418
+ if(boxset1->isLeafNode(node1))
419
+ {
420
+
421
+ //collide left recursive
422
+ _find_collision_pairs_recursive(
423
+ boxset0,boxset1,
424
+ collision_pairs,trans_cache_1to0,
425
+ boxset0->getLeftNode(node0),node1,false);
426
+
427
+
428
+ //collide right recursive
429
+
430
+ _find_collision_pairs_recursive(
431
+ boxset0,boxset1,
432
+ collision_pairs,trans_cache_1to0,
433
+ boxset0->getRightNode(node0),node1,false);
434
+
435
+
436
+ }
437
+ else
438
+ {
439
+ //collide left0 left1
440
+
441
+
442
+
443
+ _find_collision_pairs_recursive(
444
+ boxset0,boxset1,
445
+ collision_pairs,trans_cache_1to0,
446
+ boxset0->getLeftNode(node0),boxset1->getLeftNode(node1),false);
447
+
448
+ //collide left0 right1
449
+
450
+ _find_collision_pairs_recursive(
451
+ boxset0,boxset1,
452
+ collision_pairs,trans_cache_1to0,
453
+ boxset0->getLeftNode(node0),boxset1->getRightNode(node1),false);
454
+
455
+
456
+ //collide right0 left1
457
+
458
+ _find_collision_pairs_recursive(
459
+ boxset0,boxset1,
460
+ collision_pairs,trans_cache_1to0,
461
+ boxset0->getRightNode(node0),boxset1->getLeftNode(node1),false);
462
+
463
+ //collide right0 right1
464
+
465
+ _find_collision_pairs_recursive(
466
+ boxset0,boxset1,
467
+ collision_pairs,trans_cache_1to0,
468
+ boxset0->getRightNode(node0),boxset1->getRightNode(node1),false);
469
+
470
+ }// else if node1 is not a leaf
471
+ }// else if node0 is not a leaf
472
+ }
473
+
474
+
475
+ void btGImpactBvh::find_collision(btGImpactBvh * boxset0, const btTransform & trans0,
476
+ btGImpactBvh * boxset1, const btTransform & trans1,
477
+ btPairSet & collision_pairs)
478
+ {
479
+
480
+ if(boxset0->getNodeCount()==0 || boxset1->getNodeCount()==0 ) return;
481
+
482
+ BT_BOX_BOX_TRANSFORM_CACHE trans_cache_1to0;
483
+
484
+ trans_cache_1to0.calc_from_homogenic(trans0,trans1);
485
+
486
+ #ifdef TRI_COLLISION_PROFILING
487
+ bt_begin_gim02_tree_time();
488
+ #endif //TRI_COLLISION_PROFILING
489
+
490
+ _find_collision_pairs_recursive(
491
+ boxset0,boxset1,
492
+ &collision_pairs,trans_cache_1to0,0,0,true);
493
+ #ifdef TRI_COLLISION_PROFILING
494
+ bt_end_gim02_tree_time();
495
+ #endif //TRI_COLLISION_PROFILING
496
+
497
+ }
498
+