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

data/deps/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h

@@ -1,369 +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_OBB_BOX_2D_SHAPE_H
-#define BT_OBB_BOX_2D_SHAPE_H
-
-#include "BulletCollision/CollisionShapes/btPolyhedralConvexShape.h"
-#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMinMax.h"
-
-///The btBox2dShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBox2dShape: public btPolyhedralConvexShape
-{
-
-	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
-	btVector3 m_centroid;
-	btVector3 m_vertices[4];
-	btVector3 m_normals[4];
-
-public:
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-	
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;//changed in Bullet 2.63: assume the scaling and margin are included
-	}
-	
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-	
-		for (int i=0;i<numVectors;i++)
-		{
-			const btVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
-		}
-
-	}
-
-
-	///a btBox2dShape is a flat 2D box in the X-Y plane (Z extents are zero)
-	btBox2dShape( const btVector3& boxHalfExtents) 
-		: btPolyhedralConvexShape(),
-		m_centroid(0,0,0)
-	{
-		m_vertices[0].setValue(-boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
-		m_vertices[1].setValue(boxHalfExtents.getX(),-boxHalfExtents.getY(),0);
-		m_vertices[2].setValue(boxHalfExtents.getX(),boxHalfExtents.getY(),0);
-		m_vertices[3].setValue(-boxHalfExtents.getX(),boxHalfExtents.getY(),0);
-
-		m_normals[0].setValue(0,-1,0);
-		m_normals[1].setValue(1,0,0);
-		m_normals[2].setValue(0,1,0);
-		m_normals[3].setValue(-1,0,0);
-
-		btScalar minDimension = boxHalfExtents.getX();
-		if (minDimension>boxHalfExtents.getY())
-			minDimension = boxHalfExtents.getY();
-		setSafeMargin(minDimension);
-
-		m_shapeType = BOX_2D_SHAPE_PROXYTYPE;
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = (boxHalfExtents * m_localScaling) - margin;
-	};
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
-	}
-	virtual void	setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
-	}
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-
-
-
-
-	int	getVertexCount() const
-	{
-		return 4;
-	}
-
-	virtual int getNumVertices()const
-	{
-		return 4;
-	}
-
-	const btVector3* getVertices() const
-	{
-		return &m_vertices[0];
-	}
-
-	const btVector3* getNormals() const
-	{
-		return &m_normals[0];
-	}
-
-
-
-
-
-
-
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
-	{
-		//this plane might not be aligned...
-		btVector4 plane ;
-		getPlaneEquation(plane,i);
-		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
-		planeSupport = localGetSupportingVertex(-planeNormal);
-	}
-
-
-	const btVector3& getCentroid() const
-	{
-		return m_centroid;
-	}
-	
-	virtual int getNumPlanes() const
-	{
-		return 6;
-	}	
-	
-	
-
-	virtual int getNumEdges() const
-	{
-		return 12;
-	}
-
-
-	virtual void getVertex(int i,btVector3& vtx) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		vtx = btVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
-	}
-	
-
-	virtual void	getPlaneEquation(btVector4& plane,int i) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		switch (i)
-		{
-		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
-			break;
-		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
-			break;
-		default:
-			btAssert(0);
-		}
-	}
-
-	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
-	//virtual void getEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-		case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-			break;
-		case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			btAssert(0);
-
-		}
-
-		getVertex(edgeVert0,pa );
-		getVertex(edgeVert1,pb );
-	}
-
-
-
-
-	
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		//btScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
-		return result;
-	}
-
-
-	//debugging
-	virtual const char*	getName()const
-	{
-		return "Box2d";
-	}
-
-	virtual int		getNumPreferredPenetrationDirections() const
-	{
-		return 6;
-	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		switch (index)
-		{
-		case 0:
-			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			break;
-		case 1:
-			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			break;
-		case 2:
-			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			break;
-		case 3:
-			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			break;
-		case 4:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			break;
-		case 5:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			break;
-		default:
-			btAssert(0);
-		}
-	}
-
-};
-
-#endif //BT_OBB_BOX_2D_SHAPE_H
-
-

data/deps/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h

@@ -1,312 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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_OBB_BOX_MINKOWSKI_H
-#define BT_OBB_BOX_MINKOWSKI_H
-
-#include "btPolyhedralConvexShape.h"
-#include "btCollisionMargin.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMinMax.h"
-
-///The btBoxShape is a box primitive around the origin, its sides axis aligned with length specified by half extents, in local shape coordinates. When used as part of a btCollisionObject or btRigidBody it will be an oriented box in world space.
-class btBoxShape: public btPolyhedralConvexShape
-{
-
-	//btVector3	m_boxHalfExtents1; //use m_implicitShapeDimensions instead
-
-
-public:
-
-	btVector3 getHalfExtentsWithMargin() const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		return halfExtents;
-	}
-	
-	const btVector3& getHalfExtentsWithoutMargin() const
-	{
-		return m_implicitShapeDimensions;//scaling is included, margin is not
-	}
-	
-
-	virtual btVector3	localGetSupportingVertex(const btVector3& vec) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-		btVector3 margin(getMargin(),getMargin(),getMargin());
-		halfExtents += margin;
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	SIMD_FORCE_INLINE  btVector3	localGetSupportingVertexWithoutMargin(const btVector3& vec)const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-		
-		return btVector3(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-			btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-			btFsels(vec.z(), halfExtents.z(), -halfExtents.z()));
-	}
-
-	virtual void	batchedUnitVectorGetSupportingVertexWithoutMargin(const btVector3* vectors,btVector3* supportVerticesOut,int numVectors) const
-	{
-		const btVector3& halfExtents = getHalfExtentsWithoutMargin();
-	
-		for (int i=0;i<numVectors;i++)
-		{
-			const btVector3& vec = vectors[i];
-			supportVerticesOut[i].setValue(btFsels(vec.x(), halfExtents.x(), -halfExtents.x()),
-				btFsels(vec.y(), halfExtents.y(), -halfExtents.y()),
-				btFsels(vec.z(), halfExtents.z(), -halfExtents.z())); 
-		}
-
-	}
-
-
-	btBoxShape( const btVector3& boxHalfExtents);
-
-	virtual void setMargin(btScalar collisionMargin)
-	{
-		//correct the m_implicitShapeDimensions for the margin
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		
-		btConvexInternalShape::setMargin(collisionMargin);
-		btVector3 newMargin(getMargin(),getMargin(),getMargin());
-		m_implicitShapeDimensions = implicitShapeDimensionsWithMargin - newMargin;
-
-	}
-	virtual void	setLocalScaling(const btVector3& scaling)
-	{
-		btVector3 oldMargin(getMargin(),getMargin(),getMargin());
-		btVector3 implicitShapeDimensionsWithMargin = m_implicitShapeDimensions+oldMargin;
-		btVector3 unScaledImplicitShapeDimensionsWithMargin = implicitShapeDimensionsWithMargin / m_localScaling;
-
-		btConvexInternalShape::setLocalScaling(scaling);
-
-		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
-
-	}
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax) const;
-
-	
-
-	virtual void	calculateLocalInertia(btScalar mass,btVector3& inertia) const;
-
-	virtual void getPlane(btVector3& planeNormal,btVector3& planeSupport,int i ) const
-	{
-		//this plane might not be aligned...
-		btVector4 plane ;
-		getPlaneEquation(plane,i);
-		planeNormal = btVector3(plane.getX(),plane.getY(),plane.getZ());
-		planeSupport = localGetSupportingVertex(-planeNormal);
-	}
-
-	
-	virtual int getNumPlanes() const
-	{
-		return 6;
-	}	
-	
-	virtual int	getNumVertices() const 
-	{
-		return 8;
-	}
-
-	virtual int getNumEdges() const
-	{
-		return 12;
-	}
-
-
-	virtual void getVertex(int i,btVector3& vtx) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithMargin();
-
-		vtx = btVector3(
-				halfExtents.x() * (1-(i&1)) - halfExtents.x() * (i&1),
-				halfExtents.y() * (1-((i&2)>>1)) - halfExtents.y() * ((i&2)>>1),
-				halfExtents.z() * (1-((i&4)>>2)) - halfExtents.z() * ((i&4)>>2));
-	}
-	
-
-	virtual void	getPlaneEquation(btVector4& plane,int i) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		switch (i)
-		{
-		case 0:
-			plane.setValue(btScalar(1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 1:
-			plane.setValue(btScalar(-1.),btScalar(0.),btScalar(0.),-halfExtents.x());
-			break;
-		case 2:
-			plane.setValue(btScalar(0.),btScalar(1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 3:
-			plane.setValue(btScalar(0.),btScalar(-1.),btScalar(0.),-halfExtents.y());
-			break;
-		case 4:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(1.),-halfExtents.z());
-			break;
-		case 5:
-			plane.setValue(btScalar(0.),btScalar(0.),btScalar(-1.),-halfExtents.z());
-			break;
-		default:
-			btAssert(0);
-		}
-	}
-
-	
-	virtual void getEdge(int i,btVector3& pa,btVector3& pb) const
-	//virtual void getEdge(int i,Edge& edge) const
-	{
-		int edgeVert0 = 0;
-		int edgeVert1 = 0;
-
-		switch (i)
-		{
-		case 0:
-				edgeVert0 = 0;
-				edgeVert1 = 1;
-			break;
-		case 1:
-				edgeVert0 = 0;
-				edgeVert1 = 2;
-			break;
-		case 2:
-			edgeVert0 = 1;
-			edgeVert1 = 3;
-
-			break;
-		case 3:
-			edgeVert0 = 2;
-			edgeVert1 = 3;
-			break;
-		case 4:
-			edgeVert0 = 0;
-			edgeVert1 = 4;
-			break;
-		case 5:
-			edgeVert0 = 1;
-			edgeVert1 = 5;
-
-			break;
-		case 6:
-			edgeVert0 = 2;
-			edgeVert1 = 6;
-			break;
-		case 7:
-			edgeVert0 = 3;
-			edgeVert1 = 7;
-			break;
-		case 8:
-			edgeVert0 = 4;
-			edgeVert1 = 5;
-			break;
-		case 9:
-			edgeVert0 = 4;
-			edgeVert1 = 6;
-			break;
-		case 10:
-			edgeVert0 = 5;
-			edgeVert1 = 7;
-			break;
-		case 11:
-			edgeVert0 = 6;
-			edgeVert1 = 7;
-			break;
-		default:
-			btAssert(0);
-
-		}
-
-		getVertex(edgeVert0,pa );
-		getVertex(edgeVert1,pb );
-	}
-
-
-
-
-	
-	virtual	bool isInside(const btVector3& pt,btScalar tolerance) const
-	{
-		btVector3 halfExtents = getHalfExtentsWithoutMargin();
-
-		//btScalar minDist = 2*tolerance;
-		
-		bool result =	(pt.x() <= (halfExtents.x()+tolerance)) &&
-						(pt.x() >= (-halfExtents.x()-tolerance)) &&
-						(pt.y() <= (halfExtents.y()+tolerance)) &&
-						(pt.y() >= (-halfExtents.y()-tolerance)) &&
-						(pt.z() <= (halfExtents.z()+tolerance)) &&
-						(pt.z() >= (-halfExtents.z()-tolerance));
-		
-		return result;
-	}
-
-
-	//debugging
-	virtual const char*	getName()const
-	{
-		return "Box";
-	}
-
-	virtual int		getNumPreferredPenetrationDirections() const
-	{
-		return 6;
-	}
-	
-	virtual void	getPreferredPenetrationDirection(int index, btVector3& penetrationVector) const
-	{
-		switch (index)
-		{
-		case 0:
-			penetrationVector.setValue(btScalar(1.),btScalar(0.),btScalar(0.));
-			break;
-		case 1:
-			penetrationVector.setValue(btScalar(-1.),btScalar(0.),btScalar(0.));
-			break;
-		case 2:
-			penetrationVector.setValue(btScalar(0.),btScalar(1.),btScalar(0.));
-			break;
-		case 3:
-			penetrationVector.setValue(btScalar(0.),btScalar(-1.),btScalar(0.));
-			break;
-		case 4:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(1.));
-			break;
-		case 5:
-			penetrationVector.setValue(btScalar(0.),btScalar(0.),btScalar(-1.));
-			break;
-		default:
-			btAssert(0);
-		}
-	}
-
-};
-
-
-#endif //BT_OBB_BOX_MINKOWSKI_H
-
-