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 +1,302 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
+
5
+ This software is provided 'as-is', without any express or implied warranty.
6
+ In no event will the authors be held liable for any damages arising from the use of this software.
7
+ Permission is granted to anyone to use this software for any purpose,
8
+ including commercial applications, and to alter it and redistribute it freely,
9
+ subject to the following restrictions:
10
+
11
+ 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12
+ 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13
+ 3. This notice may not be removed or altered from any source distribution.
14
+ */
15
+
16
+
17
+ #include "btPersistentManifold.h"
18
+ #include "LinearMath/btTransform.h"
19
+
20
+
21
+ btScalar gContactBreakingThreshold = btScalar(0.02);
22
+ ContactDestroyedCallback gContactDestroyedCallback = 0;
23
+ ContactProcessedCallback gContactProcessedCallback = 0;
24
+ ///gContactCalcArea3Points will approximate the convex hull area using 3 points
25
+ ///when setting it to false, it will use 4 points to compute the area: it is more accurate but slower
26
+ bool gContactCalcArea3Points = true;
27
+
28
+
29
+ btPersistentManifold::btPersistentManifold()
30
+ :btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
31
+ m_body0(0),
32
+ m_body1(0),
33
+ m_cachedPoints (0),
34
+ m_index1a(0)
35
+ {
36
+ }
37
+
38
+
39
+
40
+
41
+ #ifdef DEBUG_PERSISTENCY
42
+ #include <stdio.h>
43
+ void btPersistentManifold::DebugPersistency()
44
+ {
45
+ int i;
46
+ printf("DebugPersistency : numPoints %d\n",m_cachedPoints);
47
+ for (i=0;i<m_cachedPoints;i++)
48
+ {
49
+ printf("m_pointCache[%d].m_userPersistentData = %x\n",i,m_pointCache[i].m_userPersistentData);
50
+ }
51
+ }
52
+ #endif //DEBUG_PERSISTENCY
53
+
54
+ void btPersistentManifold::clearUserCache(btManifoldPoint& pt)
55
+ {
56
+
57
+ void* oldPtr = pt.m_userPersistentData;
58
+ if (oldPtr)
59
+ {
60
+ #ifdef DEBUG_PERSISTENCY
61
+ int i;
62
+ int occurance = 0;
63
+ for (i=0;i<m_cachedPoints;i++)
64
+ {
65
+ if (m_pointCache[i].m_userPersistentData == oldPtr)
66
+ {
67
+ occurance++;
68
+ if (occurance>1)
69
+ printf("error in clearUserCache\n");
70
+ }
71
+ }
72
+ btAssert(occurance<=0);
73
+ #endif //DEBUG_PERSISTENCY
74
+
75
+ if (pt.m_userPersistentData && gContactDestroyedCallback)
76
+ {
77
+ (*gContactDestroyedCallback)(pt.m_userPersistentData);
78
+ pt.m_userPersistentData = 0;
79
+ }
80
+
81
+ #ifdef DEBUG_PERSISTENCY
82
+ DebugPersistency();
83
+ #endif
84
+ }
85
+
86
+
87
+ }
88
+
89
+ static inline btScalar calcArea4Points(const btVector3 &p0,const btVector3 &p1,const btVector3 &p2,const btVector3 &p3)
90
+ {
91
+ // It calculates possible 3 area constructed from random 4 points and returns the biggest one.
92
+
93
+ btVector3 a[3],b[3];
94
+ a[0] = p0 - p1;
95
+ a[1] = p0 - p2;
96
+ a[2] = p0 - p3;
97
+ b[0] = p2 - p3;
98
+ b[1] = p1 - p3;
99
+ b[2] = p1 - p2;
100
+
101
+ //todo: Following 3 cross production can be easily optimized by SIMD.
102
+ btVector3 tmp0 = a[0].cross(b[0]);
103
+ btVector3 tmp1 = a[1].cross(b[1]);
104
+ btVector3 tmp2 = a[2].cross(b[2]);
105
+
106
+ return btMax(btMax(tmp0.length2(),tmp1.length2()),tmp2.length2());
107
+ }
108
+
109
+ int btPersistentManifold::sortCachedPoints(const btManifoldPoint& pt)
110
+ {
111
+ //calculate 4 possible cases areas, and take biggest area
112
+ //also need to keep 'deepest'
113
+
114
+ int maxPenetrationIndex = -1;
115
+ #define KEEP_DEEPEST_POINT 1
116
+ #ifdef KEEP_DEEPEST_POINT
117
+ btScalar maxPenetration = pt.getDistance();
118
+ for (int i=0;i<4;i++)
119
+ {
120
+ if (m_pointCache[i].getDistance() < maxPenetration)
121
+ {
122
+ maxPenetrationIndex = i;
123
+ maxPenetration = m_pointCache[i].getDistance();
124
+ }
125
+ }
126
+ #endif //KEEP_DEEPEST_POINT
127
+
128
+ btScalar res0(btScalar(0.)),res1(btScalar(0.)),res2(btScalar(0.)),res3(btScalar(0.));
129
+
130
+ if (gContactCalcArea3Points)
131
+ {
132
+ if (maxPenetrationIndex != 0)
133
+ {
134
+ btVector3 a0 = pt.m_localPointA-m_pointCache[1].m_localPointA;
135
+ btVector3 b0 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
136
+ btVector3 cross = a0.cross(b0);
137
+ res0 = cross.length2();
138
+ }
139
+ if (maxPenetrationIndex != 1)
140
+ {
141
+ btVector3 a1 = pt.m_localPointA-m_pointCache[0].m_localPointA;
142
+ btVector3 b1 = m_pointCache[3].m_localPointA-m_pointCache[2].m_localPointA;
143
+ btVector3 cross = a1.cross(b1);
144
+ res1 = cross.length2();
145
+ }
146
+
147
+ if (maxPenetrationIndex != 2)
148
+ {
149
+ btVector3 a2 = pt.m_localPointA-m_pointCache[0].m_localPointA;
150
+ btVector3 b2 = m_pointCache[3].m_localPointA-m_pointCache[1].m_localPointA;
151
+ btVector3 cross = a2.cross(b2);
152
+ res2 = cross.length2();
153
+ }
154
+
155
+ if (maxPenetrationIndex != 3)
156
+ {
157
+ btVector3 a3 = pt.m_localPointA-m_pointCache[0].m_localPointA;
158
+ btVector3 b3 = m_pointCache[2].m_localPointA-m_pointCache[1].m_localPointA;
159
+ btVector3 cross = a3.cross(b3);
160
+ res3 = cross.length2();
161
+ }
162
+ }
163
+ else
164
+ {
165
+ if(maxPenetrationIndex != 0) {
166
+ res0 = calcArea4Points(pt.m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
167
+ }
168
+
169
+ if(maxPenetrationIndex != 1) {
170
+ res1 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[2].m_localPointA,m_pointCache[3].m_localPointA);
171
+ }
172
+
173
+ if(maxPenetrationIndex != 2) {
174
+ res2 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[3].m_localPointA);
175
+ }
176
+
177
+ if(maxPenetrationIndex != 3) {
178
+ res3 = calcArea4Points(pt.m_localPointA,m_pointCache[0].m_localPointA,m_pointCache[1].m_localPointA,m_pointCache[2].m_localPointA);
179
+ }
180
+ }
181
+ btVector4 maxvec(res0,res1,res2,res3);
182
+ int biggestarea = maxvec.closestAxis4();
183
+ return biggestarea;
184
+
185
+ }
186
+
187
+
188
+ int btPersistentManifold::getCacheEntry(const btManifoldPoint& newPoint) const
189
+ {
190
+ btScalar shortestDist = getContactBreakingThreshold() * getContactBreakingThreshold();
191
+ int size = getNumContacts();
192
+ int nearestPoint = -1;
193
+ for( int i = 0; i < size; i++ )
194
+ {
195
+ const btManifoldPoint &mp = m_pointCache[i];
196
+
197
+ btVector3 diffA = mp.m_localPointA- newPoint.m_localPointA;
198
+ const btScalar distToManiPoint = diffA.dot(diffA);
199
+ if( distToManiPoint < shortestDist )
200
+ {
201
+ shortestDist = distToManiPoint;
202
+ nearestPoint = i;
203
+ }
204
+ }
205
+ return nearestPoint;
206
+ }
207
+
208
+ int btPersistentManifold::addManifoldPoint(const btManifoldPoint& newPoint)
209
+ {
210
+ btAssert(validContactDistance(newPoint));
211
+
212
+ int insertIndex = getNumContacts();
213
+ if (insertIndex == MANIFOLD_CACHE_SIZE)
214
+ {
215
+ #if MANIFOLD_CACHE_SIZE >= 4
216
+ //sort cache so best points come first, based on area
217
+ insertIndex = sortCachedPoints(newPoint);
218
+ #else
219
+ insertIndex = 0;
220
+ #endif
221
+ clearUserCache(m_pointCache[insertIndex]);
222
+
223
+ } else
224
+ {
225
+ m_cachedPoints++;
226
+
227
+
228
+ }
229
+ if (insertIndex<0)
230
+ insertIndex=0;
231
+
232
+ btAssert(m_pointCache[insertIndex].m_userPersistentData==0);
233
+ m_pointCache[insertIndex] = newPoint;
234
+ return insertIndex;
235
+ }
236
+
237
+ btScalar btPersistentManifold::getContactBreakingThreshold() const
238
+ {
239
+ return m_contactBreakingThreshold;
240
+ }
241
+
242
+
243
+
244
+ void btPersistentManifold::refreshContactPoints(const btTransform& trA,const btTransform& trB)
245
+ {
246
+ int i;
247
+ #ifdef DEBUG_PERSISTENCY
248
+ printf("refreshContactPoints posA = (%f,%f,%f) posB = (%f,%f,%f)\n",
249
+ trA.getOrigin().getX(),
250
+ trA.getOrigin().getY(),
251
+ trA.getOrigin().getZ(),
252
+ trB.getOrigin().getX(),
253
+ trB.getOrigin().getY(),
254
+ trB.getOrigin().getZ());
255
+ #endif //DEBUG_PERSISTENCY
256
+ /// first refresh worldspace positions and distance
257
+ for (i=getNumContacts()-1;i>=0;i--)
258
+ {
259
+ btManifoldPoint &manifoldPoint = m_pointCache[i];
260
+ manifoldPoint.m_positionWorldOnA = trA( manifoldPoint.m_localPointA );
261
+ manifoldPoint.m_positionWorldOnB = trB( manifoldPoint.m_localPointB );
262
+ manifoldPoint.m_distance1 = (manifoldPoint.m_positionWorldOnA - manifoldPoint.m_positionWorldOnB).dot(manifoldPoint.m_normalWorldOnB);
263
+ manifoldPoint.m_lifeTime++;
264
+ }
265
+
266
+ /// then
267
+ btScalar distance2d;
268
+ btVector3 projectedDifference,projectedPoint;
269
+ for (i=getNumContacts()-1;i>=0;i--)
270
+ {
271
+
272
+ btManifoldPoint &manifoldPoint = m_pointCache[i];
273
+ //contact becomes invalid when signed distance exceeds margin (projected on contactnormal direction)
274
+ if (!validContactDistance(manifoldPoint))
275
+ {
276
+ removeContactPoint(i);
277
+ } else
278
+ {
279
+ //contact also becomes invalid when relative movement orthogonal to normal exceeds margin
280
+ projectedPoint = manifoldPoint.m_positionWorldOnA - manifoldPoint.m_normalWorldOnB * manifoldPoint.m_distance1;
281
+ projectedDifference = manifoldPoint.m_positionWorldOnB - projectedPoint;
282
+ distance2d = projectedDifference.dot(projectedDifference);
283
+ if (distance2d > getContactBreakingThreshold()*getContactBreakingThreshold() )
284
+ {
285
+ removeContactPoint(i);
286
+ } else
287
+ {
288
+ //contact point processed callback
289
+ if (gContactProcessedCallback)
290
+ (*gContactProcessedCallback)(manifoldPoint,m_body0,m_body1);
291
+ }
292
+ }
293
+ }
294
+ #ifdef DEBUG_PERSISTENCY
295
+ DebugPersistency();
296
+ #endif //
297
+ }
298
+
299
+
300
+
301
+
302
+
@@ -0,0 +1,228 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_PERSISTENT_MANIFOLD_H
17
+ #define BT_PERSISTENT_MANIFOLD_H
18
+
19
+
20
+ #include "LinearMath/btVector3.h"
21
+ #include "LinearMath/btTransform.h"
22
+ #include "btManifoldPoint.h"
23
+ #include "LinearMath/btAlignedAllocator.h"
24
+
25
+ struct btCollisionResult;
26
+
27
+ ///maximum contact breaking and merging threshold
28
+ extern btScalar gContactBreakingThreshold;
29
+
30
+ typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
31
+ typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
32
+ extern ContactDestroyedCallback gContactDestroyedCallback;
33
+ extern ContactProcessedCallback gContactProcessedCallback;
34
+
35
+ //the enum starts at 1024 to avoid type conflicts with btTypedConstraint
36
+ enum btContactManifoldTypes
37
+ {
38
+ MIN_CONTACT_MANIFOLD_TYPE = 1024,
39
+ BT_PERSISTENT_MANIFOLD_TYPE
40
+ };
41
+
42
+ #define MANIFOLD_CACHE_SIZE 4
43
+
44
+ ///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
45
+ ///Those contact points are created by the collision narrow phase.
46
+ ///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
47
+ ///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
48
+ ///reduces the cache to 4 points, when more then 4 points are added, using following rules:
49
+ ///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
50
+ ///note that some pairs of objects might have more then one contact manifold.
51
+
52
+
53
+ ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
54
+ //ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
55
+ {
56
+
57
+ btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
58
+
59
+ /// this two body pointers can point to the physics rigidbody class.
60
+ /// void* will allow any rigidbody class
61
+ void* m_body0;
62
+ void* m_body1;
63
+
64
+ int m_cachedPoints;
65
+
66
+ btScalar m_contactBreakingThreshold;
67
+ btScalar m_contactProcessingThreshold;
68
+
69
+
70
+ /// sort cached points so most isolated points come first
71
+ int sortCachedPoints(const btManifoldPoint& pt);
72
+
73
+ int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
74
+
75
+ public:
76
+
77
+ BT_DECLARE_ALIGNED_ALLOCATOR();
78
+
79
+ int m_companionIdA;
80
+ int m_companionIdB;
81
+
82
+ int m_index1a;
83
+
84
+ btPersistentManifold();
85
+
86
+ btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
87
+ : btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
88
+ m_body0(body0),m_body1(body1),m_cachedPoints(0),
89
+ m_contactBreakingThreshold(contactBreakingThreshold),
90
+ m_contactProcessingThreshold(contactProcessingThreshold)
91
+ {
92
+ }
93
+
94
+ SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
95
+ SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
96
+
97
+ SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
98
+ SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
99
+
100
+ void setBodies(void* body0,void* body1)
101
+ {
102
+ m_body0 = body0;
103
+ m_body1 = body1;
104
+ }
105
+
106
+ void clearUserCache(btManifoldPoint& pt);
107
+
108
+ #ifdef DEBUG_PERSISTENCY
109
+ void DebugPersistency();
110
+ #endif //
111
+
112
+ SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
113
+
114
+ SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
115
+ {
116
+ btAssert(index < m_cachedPoints);
117
+ return m_pointCache[index];
118
+ }
119
+
120
+ SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
121
+ {
122
+ btAssert(index < m_cachedPoints);
123
+ return m_pointCache[index];
124
+ }
125
+
126
+ ///@todo: get this margin from the current physics / collision environment
127
+ btScalar getContactBreakingThreshold() const;
128
+
129
+ btScalar getContactProcessingThreshold() const
130
+ {
131
+ return m_contactProcessingThreshold;
132
+ }
133
+
134
+ int getCacheEntry(const btManifoldPoint& newPoint) const;
135
+
136
+ int addManifoldPoint( const btManifoldPoint& newPoint);
137
+
138
+ void removeContactPoint (int index)
139
+ {
140
+ clearUserCache(m_pointCache[index]);
141
+
142
+ int lastUsedIndex = getNumContacts() - 1;
143
+ // m_pointCache[index] = m_pointCache[lastUsedIndex];
144
+ if(index != lastUsedIndex)
145
+ {
146
+ m_pointCache[index] = m_pointCache[lastUsedIndex];
147
+ //get rid of duplicated userPersistentData pointer
148
+ m_pointCache[lastUsedIndex].m_userPersistentData = 0;
149
+ m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
150
+ m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
151
+ m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
152
+
153
+ m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
154
+ m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
155
+ m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
156
+ m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
157
+ m_pointCache[lastUsedIndex].m_lifeTime = 0;
158
+ }
159
+
160
+ btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
161
+ m_cachedPoints--;
162
+ }
163
+ void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
164
+ {
165
+ btAssert(validContactDistance(newPoint));
166
+
167
+ #define MAINTAIN_PERSISTENCY 1
168
+ #ifdef MAINTAIN_PERSISTENCY
169
+ int lifeTime = m_pointCache[insertIndex].getLifeTime();
170
+ btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
171
+ btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
172
+ btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
173
+ // bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
174
+
175
+
176
+
177
+ btAssert(lifeTime>=0);
178
+ void* cache = m_pointCache[insertIndex].m_userPersistentData;
179
+
180
+ m_pointCache[insertIndex] = newPoint;
181
+
182
+ m_pointCache[insertIndex].m_userPersistentData = cache;
183
+ m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
184
+ m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
185
+ m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
186
+
187
+ m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse = appliedImpulse;
188
+ m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
189
+ m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
190
+
191
+
192
+ m_pointCache[insertIndex].m_lifeTime = lifeTime;
193
+ #else
194
+ clearUserCache(m_pointCache[insertIndex]);
195
+ m_pointCache[insertIndex] = newPoint;
196
+
197
+ #endif
198
+ }
199
+
200
+
201
+ bool validContactDistance(const btManifoldPoint& pt) const
202
+ {
203
+ return pt.m_distance1 <= getContactBreakingThreshold();
204
+ }
205
+ /// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
206
+ void refreshContactPoints( const btTransform& trA,const btTransform& trB);
207
+
208
+
209
+ SIMD_FORCE_INLINE void clearManifold()
210
+ {
211
+ int i;
212
+ for (i=0;i<m_cachedPoints;i++)
213
+ {
214
+ clearUserCache(m_pointCache[i]);
215
+ }
216
+ m_cachedPoints = 0;
217
+ }
218
+
219
+
220
+
221
+ }
222
+ ;
223
+
224
+
225
+
226
+
227
+
228
+ #endif //BT_PERSISTENT_MANIFOLD_H
@@ -0,0 +1,64 @@
1
+ /*
2
+ Bullet Continuous Collision Detection and Physics Library
3
+ Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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_POINT_COLLECTOR_H
17
+ #define BT_POINT_COLLECTOR_H
18
+
19
+ #include "btDiscreteCollisionDetectorInterface.h"
20
+
21
+
22
+
23
+ struct btPointCollector : public btDiscreteCollisionDetectorInterface::Result
24
+ {
25
+
26
+
27
+ btVector3 m_normalOnBInWorld;
28
+ btVector3 m_pointInWorld;
29
+ btScalar m_distance;//negative means penetration
30
+
31
+ bool m_hasResult;
32
+
33
+ btPointCollector ()
34
+ : m_distance(btScalar(BT_LARGE_FLOAT)),m_hasResult(false)
35
+ {
36
+ }
37
+
38
+ virtual void setShapeIdentifiersA(int partId0,int index0)
39
+ {
40
+ (void)partId0;
41
+ (void)index0;
42
+
43
+ }
44
+ virtual void setShapeIdentifiersB(int partId1,int index1)
45
+ {
46
+ (void)partId1;
47
+ (void)index1;
48
+ }
49
+
50
+ virtual void addContactPoint(const btVector3& normalOnBInWorld,const btVector3& pointInWorld,btScalar depth)
51
+ {
52
+ if (depth< m_distance)
53
+ {
54
+ m_hasResult = true;
55
+ m_normalOnBInWorld = normalOnBInWorld;
56
+ m_pointInWorld = pointInWorld;
57
+ //negative means penetration
58
+ m_distance = depth;
59
+ }
60
+ }
61
+ };
62
+
63
+ #endif //BT_POINT_COLLECTOR_H
64
+