ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux

data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h

@@ -1,172 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION__DISPATCHER_H
-#define BT_COLLISION__DISPATCHER_H
-
-#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-#include "BulletCollision/CollisionDispatch/btManifoldResult.h"
-
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-class btIDebugDraw;
-class btOverlappingPairCache;
-class btPoolAllocator;
-class btCollisionConfiguration;
-
-#include "btCollisionCreateFunc.h"
-
-#define USE_DISPATCH_REGISTRY_ARRAY 1
-
-class btCollisionDispatcher;
-///user can override this nearcallback for collision filtering and more finegrained control over collision detection
-typedef void (*btNearCallback)(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
-
-
-///btCollisionDispatcher supports algorithms that handle ConvexConvex and ConvexConcave collision pairs.
-///Time of Impact, Closest Points and Penetration Depth.
-class btCollisionDispatcher : public btDispatcher
-{
-
-protected:
-
-	int		m_dispatcherFlags;
-
-	btAlignedObjectArray<btPersistentManifold*>	m_manifoldsPtr;
-
-	btManifoldResult	m_defaultManifoldResult;
-
-	btNearCallback		m_nearCallback;
-	
-	btPoolAllocator*	m_collisionAlgorithmPoolAllocator;
-
-	btPoolAllocator*	m_persistentManifoldPoolAllocator;
-
-	btCollisionAlgorithmCreateFunc* m_doubleDispatch[MAX_BROADPHASE_COLLISION_TYPES][MAX_BROADPHASE_COLLISION_TYPES];
-
-	btCollisionConfiguration*	m_collisionConfiguration;
-
-
-public:
-
-	enum DispatcherFlags
-	{
-		CD_STATIC_STATIC_REPORTED = 1,
-		CD_USE_RELATIVE_CONTACT_BREAKING_THRESHOLD = 2,
-		CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION = 4
-	};
-
-	int	getDispatcherFlags() const
-	{
-		return m_dispatcherFlags;
-	}
-
-	void	setDispatcherFlags(int flags)
-	{
-		m_dispatcherFlags = flags;
-	}
-
-	///registerCollisionCreateFunc allows registration of custom/alternative collision create functions
-	void	registerCollisionCreateFunc(int proxyType0,int proxyType1, btCollisionAlgorithmCreateFunc* createFunc);
-
-	int	getNumManifolds() const
-	{ 
-		return int( m_manifoldsPtr.size());
-	}
-
-	btPersistentManifold**	getInternalManifoldPointer()
-	{
-		return m_manifoldsPtr.size()? &m_manifoldsPtr[0] : 0;
-	}
-
-	 btPersistentManifold* getManifoldByIndexInternal(int index)
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	 const btPersistentManifold* getManifoldByIndexInternal(int index) const
-	{
-		return m_manifoldsPtr[index];
-	}
-
-	btCollisionDispatcher (btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btCollisionDispatcher();
-
-	virtual btPersistentManifold*	getNewManifold(void* b0,void* b1);
-	
-	virtual void releaseManifold(btPersistentManifold* manifold);
-
-
-	virtual void clearManifold(btPersistentManifold* manifold);
-
-			
-	btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold = 0);
-		
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1);
-	
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1);
-	
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher) ;
-
-	void	setNearCallback(btNearCallback	nearCallback)
-	{
-		m_nearCallback = nearCallback; 
-	}
-
-	btNearCallback	getNearCallback() const
-	{
-		return m_nearCallback;
-	}
-
-	//by default, Bullet will use this near callback
-	static void  defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo);
-
-	virtual	void* allocateCollisionAlgorithm(int size);
-
-	virtual	void freeCollisionAlgorithm(void* ptr);
-
-	btCollisionConfiguration*	getCollisionConfiguration()
-	{
-		return m_collisionConfiguration;
-	}
-
-	const btCollisionConfiguration*	getCollisionConfiguration() const
-	{
-		return m_collisionConfiguration;
-	}
-
-	void	setCollisionConfiguration(btCollisionConfiguration* config)
-	{
-		m_collisionConfiguration = config;
-	}
-
-	virtual	btPoolAllocator*	getInternalManifoldPool()
-	{
-		return m_persistentManifoldPoolAllocator;
-	}
-
-	virtual	const btPoolAllocator*	getInternalManifoldPool() const
-	{
-		return m_persistentManifoldPoolAllocator;
-	}
-
-};
-
-#endif //BT_COLLISION__DISPATCHER_H
-

data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -1,524 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_COLLISION_OBJECT_H
-#define BT_COLLISION_OBJECT_H
-
-#include "LinearMath/btTransform.h"
-
-//island management, m_activationState1
-#define ACTIVE_TAG 1
-#define ISLAND_SLEEPING 2
-#define WANTS_DEACTIVATION 3
-#define DISABLE_DEACTIVATION 4
-#define DISABLE_SIMULATION 5
-
-struct	btBroadphaseProxy;
-class	btCollisionShape;
-struct btCollisionShapeData;
-#include "LinearMath/btMotionState.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btAlignedObjectArray.h"
-
-typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btCollisionObjectData btCollisionObjectDoubleData
-#define btCollisionObjectDataName "btCollisionObjectDoubleData"
-#else
-#define btCollisionObjectData btCollisionObjectFloatData
-#define btCollisionObjectDataName "btCollisionObjectFloatData"
-#endif
-
-
-/// btCollisionObject can be used to manage collision detection objects. 
-/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
-/// They can be added to the btCollisionWorld.
-ATTRIBUTE_ALIGNED16(class)	btCollisionObject
-{
-
-protected:
-
-	btTransform	m_worldTransform;
-
-	///m_interpolationWorldTransform is used for CCD and interpolation
-	///it can be either previous or future (predicted) transform
-	btTransform	m_interpolationWorldTransform;
-	//those two are experimental: just added for bullet time effect, so you can still apply impulses (directly modifying velocities) 
-	//without destroying the continuous interpolated motion (which uses this interpolation velocities)
-	btVector3	m_interpolationLinearVelocity;
-	btVector3	m_interpolationAngularVelocity;
-	
-	btVector3	m_anisotropicFriction;
-	int			m_hasAnisotropicFriction;
-	btScalar	m_contactProcessingThreshold;	
-
-	btBroadphaseProxy*		m_broadphaseHandle;
-	btCollisionShape*		m_collisionShape;
-	///m_extensionPointer is used by some internal low-level Bullet extensions.
-	void*					m_extensionPointer;
-	
-	///m_rootCollisionShape is temporarily used to store the original collision shape
-	///The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes
-	///If it is NULL, the m_collisionShape is not temporarily replaced.
-	btCollisionShape*		m_rootCollisionShape;
-
-	int				m_collisionFlags;
-
-	int				m_islandTag1;
-	int				m_companionId;
-
-	int				m_activationState1;
-	btScalar			m_deactivationTime;
-
-	btScalar		m_friction;
-	btScalar		m_restitution;
-
-	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
-	///do not assign your own m_internalType unless you write a new dynamics object class.
-	int				m_internalType;
-
-	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
-	void*			m_userObjectPointer;
-
-	///time of impact calculation
-	btScalar		m_hitFraction; 
-	
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar		m_ccdSweptSphereRadius;
-
-	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	btScalar		m_ccdMotionThreshold;
-	
-	/// If some object should have elaborate collision filtering by sub-classes
-	int			m_checkCollideWith;
-
-	virtual bool	checkCollideWithOverride(btCollisionObject* /* co */)
-	{
-		return true;
-	}
-
-public:
-
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	enum CollisionFlags
-	{
-		CF_STATIC_OBJECT= 1,
-		CF_KINEMATIC_OBJECT= 2,
-		CF_NO_CONTACT_RESPONSE = 4,
-		CF_CUSTOM_MATERIAL_CALLBACK = 8,//this allows per-triangle material (friction/restitution)
-		CF_CHARACTER_OBJECT = 16,
-		CF_DISABLE_VISUALIZE_OBJECT = 32, //disable debug drawing
-		CF_DISABLE_SPU_COLLISION_PROCESSING = 64//disable parallel/SPU processing
-	};
-
-	enum	CollisionObjectTypes
-	{
-		CO_COLLISION_OBJECT =1,
-		CO_RIGID_BODY=2,
-		///CO_GHOST_OBJECT keeps track of all objects overlapping its AABB and that pass its collision filter
-		///It is useful for collision sensors, explosion objects, character controller etc.
-		CO_GHOST_OBJECT=4,
-		CO_SOFT_BODY=8,
-		CO_HF_FLUID=16,
-		CO_USER_TYPE=32
-	};
-
-	SIMD_FORCE_INLINE bool mergesSimulationIslands() const
-	{
-		///static objects, kinematic and object without contact response don't merge islands
-		return  ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OBJECT | CF_NO_CONTACT_RESPONSE) )==0);
-	}
-
-	const btVector3& getAnisotropicFriction() const
-	{
-		return m_anisotropicFriction;
-	}
-	void	setAnisotropicFriction(const btVector3& anisotropicFriction)
-	{
-		m_anisotropicFriction = anisotropicFriction;
-		m_hasAnisotropicFriction = (anisotropicFriction[0]!=1.f) || (anisotropicFriction[1]!=1.f) || (anisotropicFriction[2]!=1.f);
-	}
-	bool	hasAnisotropicFriction() const
-	{
-		return m_hasAnisotropicFriction!=0;
-	}
-
-	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
-	///Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with degerate contacts, such as 'interior' triangle edges
-	void	setContactProcessingThreshold( btScalar contactProcessingThreshold)
-	{
-		m_contactProcessingThreshold = contactProcessingThreshold;
-	}
-	btScalar	getContactProcessingThreshold() const
-	{
-		return m_contactProcessingThreshold;
-	}
-
-	SIMD_FORCE_INLINE bool		isStaticObject() const {
-		return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool		isKinematicObject() const
-	{
-		return (m_collisionFlags & CF_KINEMATIC_OBJECT) != 0;
-	}
-
-	SIMD_FORCE_INLINE bool		isStaticOrKinematicObject() const
-	{
-		return (m_collisionFlags & (CF_KINEMATIC_OBJECT | CF_STATIC_OBJECT)) != 0 ;
-	}
-
-	SIMD_FORCE_INLINE bool		hasContactResponse() const {
-		return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
-	}
-
-	
-	btCollisionObject();
-
-	virtual ~btCollisionObject();
-
-	virtual void	setCollisionShape(btCollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-		m_rootCollisionShape = collisionShape;
-	}
-
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const
-	{
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape()
-	{
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE const btCollisionShape*	getRootCollisionShape() const
-	{
-		return m_rootCollisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getRootCollisionShape()
-	{
-		return m_rootCollisionShape;
-	}
-
-	///Avoid using this internal API call
-	///internalSetTemporaryCollisionShape is used to temporary replace the actual collision shape by a child collision shape.
-	void	internalSetTemporaryCollisionShape(btCollisionShape* collisionShape)
-	{
-		m_collisionShape = collisionShape;
-	}
-
-	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions. 
-	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void*		internalGetExtensionPointer() const
-	{
-		return m_extensionPointer;
-	}
-	///Avoid using this internal API call, the extension pointer is used by some Bullet extensions
-	///If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
-	void	internalSetExtensionPointer(void* pointer)
-	{
-		m_extensionPointer = pointer;
-	}
-
-	SIMD_FORCE_INLINE	int	getActivationState() const { return m_activationState1;}
-	
-	void setActivationState(int newState);
-
-	void	setDeactivationTime(btScalar time)
-	{
-		m_deactivationTime = time;
-	}
-	btScalar	getDeactivationTime() const
-	{
-		return m_deactivationTime;
-	}
-
-	void forceActivationState(int newState);
-
-	void	activate(bool forceActivation = false);
-
-	SIMD_FORCE_INLINE bool isActive() const
-	{
-		return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
-	}
-
-	void	setRestitution(btScalar rest)
-	{
-		m_restitution = rest;
-	}
-	btScalar	getRestitution() const
-	{
-		return m_restitution;
-	}
-	void	setFriction(btScalar frict)
-	{
-		m_friction = frict;
-	}
-	btScalar	getFriction() const
-	{
-		return m_friction;
-	}
-
-	///reserved for Bullet internal usage
-	int	getInternalType() const
-	{
-		return m_internalType;
-	}
-
-	btTransform&	getWorldTransform()
-	{
-		return m_worldTransform;
-	}
-
-	const btTransform&	getWorldTransform() const
-	{
-		return m_worldTransform;
-	}
-
-	void	setWorldTransform(const btTransform& worldTrans)
-	{
-		m_worldTransform = worldTrans;
-	}
-
-
-	SIMD_FORCE_INLINE btBroadphaseProxy*	getBroadphaseHandle()
-	{
-		return m_broadphaseHandle;
-	}
-
-	SIMD_FORCE_INLINE const btBroadphaseProxy*	getBroadphaseHandle() const
-	{
-		return m_broadphaseHandle;
-	}
-
-	void	setBroadphaseHandle(btBroadphaseProxy* handle)
-	{
-		m_broadphaseHandle = handle;
-	}
-
-
-	const btTransform&	getInterpolationWorldTransform() const
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	btTransform&	getInterpolationWorldTransform()
-	{
-		return m_interpolationWorldTransform;
-	}
-
-	void	setInterpolationWorldTransform(const btTransform&	trans)
-	{
-		m_interpolationWorldTransform = trans;
-	}
-
-	void	setInterpolationLinearVelocity(const btVector3& linvel)
-	{
-		m_interpolationLinearVelocity = linvel;
-	}
-
-	void	setInterpolationAngularVelocity(const btVector3& angvel)
-	{
-		m_interpolationAngularVelocity = angvel;
-	}
-
-	const btVector3&	getInterpolationLinearVelocity() const
-	{
-		return m_interpolationLinearVelocity;
-	}
-
-	const btVector3&	getInterpolationAngularVelocity() const
-	{
-		return m_interpolationAngularVelocity;
-	}
-
-	SIMD_FORCE_INLINE int getIslandTag() const
-	{
-		return	m_islandTag1;
-	}
-
-	void	setIslandTag(int tag)
-	{
-		m_islandTag1 = tag;
-	}
-
-	SIMD_FORCE_INLINE int getCompanionId() const
-	{
-		return	m_companionId;
-	}
-
-	void	setCompanionId(int id)
-	{
-		m_companionId = id;
-	}
-
-	SIMD_FORCE_INLINE btScalar			getHitFraction() const
-	{
-		return m_hitFraction; 
-	}
-
-	void	setHitFraction(btScalar hitFraction)
-	{
-		m_hitFraction = hitFraction;
-	}
-
-	
-	SIMD_FORCE_INLINE int	getCollisionFlags() const
-	{
-		return m_collisionFlags;
-	}
-
-	void	setCollisionFlags(int flags)
-	{
-		m_collisionFlags = flags;
-	}
-	
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	btScalar			getCcdSweptSphereRadius() const
-	{
-		return m_ccdSweptSphereRadius;
-	}
-
-	///Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
-	void	setCcdSweptSphereRadius(btScalar radius)
-	{
-		m_ccdSweptSphereRadius = radius;
-	}
-
-	btScalar 	getCcdMotionThreshold() const
-	{
-		return m_ccdMotionThreshold;
-	}
-
-	btScalar 	getCcdSquareMotionThreshold() const
-	{
-		return m_ccdMotionThreshold*m_ccdMotionThreshold;
-	}
-
-
-
-	/// Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold
-	void	setCcdMotionThreshold(btScalar ccdMotionThreshold)
-	{
-		m_ccdMotionThreshold = ccdMotionThreshold;
-	}
-
-	///users can point to their objects, userPointer is not used by Bullet
-	void*	getUserPointer() const
-	{
-		return m_userObjectPointer;
-	}
-	
-	///users can point to their objects, userPointer is not used by Bullet
-	void	setUserPointer(void* userPointer)
-	{
-		m_userObjectPointer = userPointer;
-	}
-
-
-	inline bool checkCollideWith(btCollisionObject* co)
-	{
-		if (m_checkCollideWith)
-			return checkCollideWithOverride(co);
-
-		return true;
-	}
-
-	virtual	int	calculateSerializeBufferSize()	const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer* serializer) const;
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionObjectDoubleData
-{
-	void					*m_broadphaseHandle;
-	void					*m_collisionShape;
-	btCollisionShapeData	*m_rootCollisionShape;
-	char					*m_name;
-
-	btTransformDoubleData	m_worldTransform;
-	btTransformDoubleData	m_interpolationWorldTransform;
-	btVector3DoubleData		m_interpolationLinearVelocity;
-	btVector3DoubleData		m_interpolationAngularVelocity;
-	btVector3DoubleData		m_anisotropicFriction;
-	double					m_contactProcessingThreshold;	
-	double					m_deactivationTime;
-	double					m_friction;
-	double					m_restitution;
-	double					m_hitFraction; 
-	double					m_ccdSweptSphereRadius;
-	double					m_ccdMotionThreshold;
-
-	int						m_hasAnisotropicFriction;
-	int						m_collisionFlags;
-	int						m_islandTag1;
-	int						m_companionId;
-	int						m_activationState1;
-	int						m_internalType;
-	int						m_checkCollideWith;
-
-	char	m_padding[4];
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btCollisionObjectFloatData
-{
-	void					*m_broadphaseHandle;
-	void					*m_collisionShape;
-	btCollisionShapeData	*m_rootCollisionShape;
-	char					*m_name;
-
-	btTransformFloatData	m_worldTransform;
-	btTransformFloatData	m_interpolationWorldTransform;
-	btVector3FloatData		m_interpolationLinearVelocity;
-	btVector3FloatData		m_interpolationAngularVelocity;
-	btVector3FloatData		m_anisotropicFriction;
-	float					m_contactProcessingThreshold;	
-	float					m_deactivationTime;
-	float					m_friction;
-	float					m_restitution;
-	float					m_hitFraction; 
-	float					m_ccdSweptSphereRadius;
-	float					m_ccdMotionThreshold;
-
-	int						m_hasAnisotropicFriction;
-	int						m_collisionFlags;
-	int						m_islandTag1;
-	int						m_companionId;
-	int						m_activationState1;
-	int						m_internalType;
-	int						m_checkCollideWith;
-};
-
-
-
-SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
-{
-	return sizeof(btCollisionObjectData);
-}
-
-
-
-#endif //BT_COLLISION_OBJECT_H