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

data/deps/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h

@@ -1,163 +0,0 @@
-/*! \file btGenericPoolAllocator.h
-\author Francisco Leon Najera. email projectileman@yahoo.com
-
-General purpose allocator class
-*/
-/*
-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_GENERIC_POOL_ALLOCATOR_H
-#define BT_GENERIC_POOL_ALLOCATOR_H
-
-#include <limits.h>
-#include <stdio.h>
-#include <string.h>
-#include "LinearMath/btAlignedAllocator.h"
-
-#define BT_UINT_MAX UINT_MAX
-#define BT_DEFAULT_MAX_POOLS 16
-
-
-//! Generic Pool class
-class btGenericMemoryPool
-{
-public:
-	unsigned char * m_pool; //[m_element_size*m_max_element_count];
-	size_t * m_free_nodes; //[m_max_element_count];//! free nodes
-	size_t * m_allocated_sizes;//[m_max_element_count];//! Number of elements allocated per node
-	size_t m_allocated_count;
-	size_t m_free_nodes_count;
-protected:
-	size_t m_element_size;
-	size_t m_max_element_count;
-
-	size_t allocate_from_free_nodes(size_t num_elements);
-	size_t allocate_from_pool(size_t num_elements);
-
-public:
-
-	void init_pool(size_t element_size, size_t element_count);
-
-	void end_pool();
-
-
-	btGenericMemoryPool(size_t element_size, size_t element_count)
-	{
-		init_pool(element_size, element_count);
-	}
-
-	~btGenericMemoryPool()
-	{
-		end_pool();
-	}
-
-
-	inline size_t get_pool_capacity()
-	{
-		return m_element_size*m_max_element_count;
-	}
-
-	inline size_t gem_element_size()
-	{
-		return m_element_size;
-	}
-
-	inline size_t get_max_element_count()
-	{
-		return m_max_element_count;
-	}
-
-	inline size_t get_allocated_count()
-	{
-		return m_allocated_count;
-	}
-
-	inline size_t get_free_positions_count()
-	{
-		return m_free_nodes_count;
-	}
-
-	inline void * get_element_data(size_t element_index)
-	{
-		return &m_pool[element_index*m_element_size];
-	}
-
-	//! Allocates memory in pool
-	/*!
-	\param size_bytes size in bytes of the buffer
-	*/
-	void * allocate(size_t size_bytes);
-
-	bool freeMemory(void * pointer);
-};
-
-
-
-
-//! Generic Allocator with pools
-/*!
-General purpose Allocator which can create Memory Pools dynamiacally as needed.
-*/
-class btGenericPoolAllocator
-{
-protected:
-	size_t m_pool_element_size;
-	size_t m_pool_element_count;
-public:
-	btGenericMemoryPool * m_pools[BT_DEFAULT_MAX_POOLS];
-	size_t m_pool_count;
-
-
-	inline size_t get_pool_capacity()
-	{
-		return m_pool_element_size*m_pool_element_count;
-	}
-
-
-protected:
-	// creates a pool
-	btGenericMemoryPool * push_new_pool();
-
-	void * failback_alloc(size_t size_bytes);
-
-	bool failback_free(void * pointer);
-public:
-
-	btGenericPoolAllocator(size_t pool_element_size, size_t pool_element_count)
-	{
-		m_pool_count = 0;
-		m_pool_element_size = pool_element_size;
-		m_pool_element_count = pool_element_count;
-	}
-
-	virtual ~btGenericPoolAllocator();
-
-	//! Allocates memory in pool
-	/*!
-	\param size_bytes size in bytes of the buffer
-	*/
-	void * allocate(size_t size_bytes);
-
-	bool freeMemory(void * pointer);
-};
-
-
-
-void * btPoolAlloc(size_t size);
-void * btPoolRealloc(void *ptr, size_t oldsize, size_t newsize);
-void btPoolFree(void *ptr);
-
-
-#endif

data/deps/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h

@@ -1,212 +0,0 @@
-#ifndef BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-#define BT_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-
-/*! \file btGeometryOperations.h
-*\author Francisco Leon Najera
-
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-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.
-*/
-
-#include "btBoxCollision.h"
-
-
-
-
-
-#define PLANEDIREPSILON 0.0000001f
-#define PARALELENORMALS 0.000001f
-
-
-#define BT_CLAMP(number,minval,maxval) (number<minval?minval:(number>maxval?maxval:number))
-
-/// Calc a plane from a triangle edge an a normal. plane is a vec4f
-SIMD_FORCE_INLINE void bt_edge_plane(const btVector3 & e1,const btVector3 &  e2, const btVector3 & normal,btVector4 & plane)
-{
-	btVector3 planenormal = (e2-e1).cross(normal);
-	planenormal.normalize();
-	plane.setValue(planenormal[0],planenormal[1],planenormal[2],e2.dot(planenormal));
-}
-
-
-
-//***************** SEGMENT and LINE FUNCTIONS **********************************///
-
-/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
- */
-SIMD_FORCE_INLINE void bt_closest_point_on_segment(
-	btVector3 & cp, const btVector3 & v,
-	const btVector3  &e1,const btVector3 &e2)
-{
-    btVector3 n = e2-e1;
-    cp = v - e1;
-	btScalar _scalar = cp.dot(n)/n.dot(n);
-	if(_scalar <0.0f)
-	{
-	    cp = e1;
-	}
-	else if(_scalar >1.0f)
-	{
-	    cp = e2;
-	}
-	else
-	{
-		cp = _scalar*n + e1;
-	}
-}
-
-
-//! line plane collision
-/*!
-*\return
-	-0  if the ray never intersects
-	-1 if the ray collides in front
-	-2 if the ray collides in back
-*/
-
-SIMD_FORCE_INLINE int bt_line_plane_collision(
-	const btVector4 & plane,
-	const btVector3 & vDir,
-	const btVector3 & vPoint,
-	btVector3 & pout,
-	btScalar &tparam,
-	btScalar tmin, btScalar tmax)
-{
-
-	btScalar _dotdir = vDir.dot(plane);
-
-	if(btFabs(_dotdir)<PLANEDIREPSILON)
-	{
-		tparam = tmax;
-	    return 0;
-	}
-
-	btScalar _dis = bt_distance_point_plane(plane,vPoint);
-	char returnvalue = _dis<0.0f? 2:1;
-	tparam = -_dis/_dotdir;
-
-	if(tparam<tmin)
-	{
-		returnvalue = 0;
-		tparam = tmin;
-	}
-	else if(tparam>tmax)
-	{
-		returnvalue = 0;
-		tparam = tmax;
-	}
-	pout = tparam*vDir + vPoint;
-	return returnvalue;
-}
-
-
-//! Find closest points on segments
-SIMD_FORCE_INLINE void bt_segment_collision(
-	const btVector3 & vA1,
-	const btVector3 & vA2,
-	const btVector3 & vB1,
-	const btVector3 & vB2,
-	btVector3 & vPointA,
-	btVector3 & vPointB)
-{
-    btVector3 AD = vA2 - vA1;
-    btVector3 BD = vB2 - vB1;
-    btVector3 N = AD.cross(BD);
-    btScalar tp = N.length2();
-
-    btVector4 _M;//plane
-
-    if(tp<SIMD_EPSILON)//ARE PARALELE
-    {
-    	//project B over A
-    	bool invert_b_order = false;
-    	_M[0] = vB1.dot(AD);
-    	_M[1] = vB2.dot(AD);
-
-    	if(_M[0]>_M[1])
-    	{
-    		invert_b_order  = true;
-    		BT_SWAP_NUMBERS(_M[0],_M[1]);
-    	}
-    	_M[2] = vA1.dot(AD);
-    	_M[3] = vA2.dot(AD);
-    	//mid points
-    	N[0] = (_M[0]+_M[1])*0.5f;
-    	N[1] = (_M[2]+_M[3])*0.5f;
-
-    	if(N[0]<N[1])
-    	{
-    		if(_M[1]<_M[2])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			vPointA = vA1;
-    		}
-    		else if(_M[1]<_M[3])
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
-    		}
-    		else
-    		{
-    			vPointA = vA2;
-    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
-    		}
-    	}
-    	else
-    	{
-    		if(_M[3]<_M[0])
-    		{
-    			vPointB = invert_b_order?vB2:vB1;
-    			vPointA = vA2;
-    		}
-    		else if(_M[3]<_M[1])
-    		{
-    			vPointA = vA2;
-    			bt_closest_point_on_segment(vPointB,vPointA,vB1,vB2);
-    		}
-    		else
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			bt_closest_point_on_segment(vPointA,vPointB,vA1,vA2);
-    		}
-    	}
-    	return;
-    }
-
-    N = N.cross(BD);
-    _M.setValue(N[0],N[1],N[2],vB1.dot(N));
-
-	// get point A as the plane collision point
-    bt_line_plane_collision(_M,AD,vA1,vPointA,tp,btScalar(0), btScalar(1));
-
-    /*Closest point on segment*/
-    vPointB = vPointA - vB1;
-	tp = vPointB.dot(BD);
-	tp/= BD.dot(BD);
-	tp = BT_CLAMP(tp,0.0f,1.0f);
-
-	vPointB = tp*BD + vB1;
-}
-
-
-
-
-
-#endif // GIM_VECTOR_H_INCLUDED

data/deps/include/bullet/BulletCollision/Gimpact/btQuantization.h

@@ -1,88 +0,0 @@
-#ifndef BT_GIMPACT_QUANTIZATION_H_INCLUDED
-#define BT_GIMPACT_QUANTIZATION_H_INCLUDED
-
-/*! \file btQuantization.h
-*\author Francisco Leon Najera
-
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-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.
-*/
-
-#include "LinearMath/btTransform.h"
-
-
-
-
-
-
-SIMD_FORCE_INLINE void bt_calc_quantization_parameters(
-	btVector3 & outMinBound,
-	btVector3 & outMaxBound,
-	btVector3 & bvhQuantization,
-	const btVector3& srcMinBound,const btVector3& srcMaxBound,
-	btScalar quantizationMargin)
-{
-	//enlarge the AABB to avoid division by zero when initializing the quantization values
-	btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin);
-	outMinBound = srcMinBound - clampValue;
-	outMaxBound = srcMaxBound + clampValue;
-	btVector3 aabbSize = outMaxBound - outMinBound;
-	bvhQuantization = btVector3(btScalar(65535.0),
-								btScalar(65535.0),
-								btScalar(65535.0)) / aabbSize;
-}
-
-
-SIMD_FORCE_INLINE void bt_quantize_clamp(
-	unsigned short* out,
-	const btVector3& point,
-	const btVector3 & min_bound,
-	const btVector3 & max_bound,
-	const btVector3 & bvhQuantization)
-{
-
-	btVector3 clampedPoint(point);
-	clampedPoint.setMax(min_bound);
-	clampedPoint.setMin(max_bound);
-
-	btVector3 v = (clampedPoint - min_bound) * bvhQuantization;
-	out[0] = (unsigned short)(v.getX()+0.5f);
-	out[1] = (unsigned short)(v.getY()+0.5f);
-	out[2] = (unsigned short)(v.getZ()+0.5f);
-}
-
-
-SIMD_FORCE_INLINE btVector3 bt_unquantize(
-	const unsigned short* vecIn,
-	const btVector3 & offset,
-	const btVector3 & bvhQuantization)
-{
-	btVector3	vecOut;
-	vecOut.setValue(
-		(btScalar)(vecIn[0]) / (bvhQuantization.getX()),
-		(btScalar)(vecIn[1]) / (bvhQuantization.getY()),
-		(btScalar)(vecIn[2]) / (bvhQuantization.getZ()));
-	vecOut += offset;
-	return vecOut;
-}
-
-
-
-#endif // BT_GIMPACT_QUANTIZATION_H_INCLUDED

data/deps/include/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h

@@ -1,180 +0,0 @@
-/*! \file btGImpactShape.h
-\author Francisco Leon Najera
-*/
-/*
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
-
-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 GIMPACT_TRIANGLE_SHAPE_EX_H
-#define GIMPACT_TRIANGLE_SHAPE_EX_H
-
-#include "BulletCollision/CollisionShapes/btCollisionShape.h"
-#include "BulletCollision/CollisionShapes/btTriangleShape.h"
-#include "btBoxCollision.h"
-#include "btClipPolygon.h"
-#include "btGeometryOperations.h"
-
-
-#define MAX_TRI_CLIPPING 16
-
-//! Structure for collision
-struct GIM_TRIANGLE_CONTACT
-{
-    btScalar m_penetration_depth;
-    int m_point_count;
-    btVector4 m_separating_normal;
-    btVector3 m_points[MAX_TRI_CLIPPING];
-
-	SIMD_FORCE_INLINE void copy_from(const GIM_TRIANGLE_CONTACT& other)
-	{
-		m_penetration_depth = other.m_penetration_depth;
-		m_separating_normal = other.m_separating_normal;
-		m_point_count = other.m_point_count;
-		int i = m_point_count;
-		while(i--)
-		{
-			m_points[i] = other.m_points[i];
-		}
-	}
-
-	GIM_TRIANGLE_CONTACT()
-	{
-	}
-
-	GIM_TRIANGLE_CONTACT(const GIM_TRIANGLE_CONTACT& other)
-	{
-		copy_from(other);
-	}
-
-    //! classify points that are closer
-    void merge_points(const btVector4 & plane,
-    				btScalar margin, const btVector3 * points, int point_count);
-
-};
-
-
-
-class btPrimitiveTriangle
-{
-public:
-	btVector3 m_vertices[3];
-	btVector4 m_plane;
-	btScalar m_margin;
-	btScalar m_dummy;
-	btPrimitiveTriangle():m_margin(0.01f)
-	{
-
-	}
-
-
-	SIMD_FORCE_INLINE void buildTriPlane()
-	{
-		btVector3 normal = (m_vertices[1]-m_vertices[0]).cross(m_vertices[2]-m_vertices[0]);
-		normal.normalize();
-		m_plane.setValue(normal[0],normal[1],normal[2],m_vertices[0].dot(normal));
-	}
-
-	//! Test if triangles could collide
-	bool overlap_test_conservative(const btPrimitiveTriangle& other);
-
-	//! Calcs the plane which is paralele to the edge and perpendicular to the triangle plane
-	/*!
-	\pre this triangle must have its plane calculated.
-	*/
-	SIMD_FORCE_INLINE void get_edge_plane(int edge_index, btVector4 &plane)  const
-    {
-		const btVector3 & e0 = m_vertices[edge_index];
-		const btVector3 & e1 = m_vertices[(edge_index+1)%3];
-		bt_edge_plane(e0,e1,m_plane,plane);
-    }
-
-    void applyTransform(const btTransform& t)
-	{
-		m_vertices[0] = t(m_vertices[0]);
-		m_vertices[1] = t(m_vertices[1]);
-		m_vertices[2] = t(m_vertices[2]);
-	}
-
-	//! Clips the triangle against this
-	/*!
-	\pre clipped_points must have MAX_TRI_CLIPPING size, and this triangle must have its plane calculated.
-	\return the number of clipped points
-	*/
-    int clip_triangle(btPrimitiveTriangle & other, btVector3 * clipped_points );
-
-	//! Find collision using the clipping method
-	/*!
-	\pre this triangle and other must have their triangles calculated
-	*/
-    bool find_triangle_collision_clip_method(btPrimitiveTriangle & other, GIM_TRIANGLE_CONTACT & contacts);
-};
-
-
-
-//! Helper class for colliding Bullet Triangle Shapes
-/*!
-This class implements a better getAabb method than the previous btTriangleShape class
-*/
-class btTriangleShapeEx: public btTriangleShape
-{
-public:
-
-	btTriangleShapeEx():btTriangleShape(btVector3(0,0,0),btVector3(0,0,0),btVector3(0,0,0))
-	{
-	}
-
-	btTriangleShapeEx(const btVector3& p0,const btVector3& p1,const btVector3& p2):	btTriangleShape(p0,p1,p2)
-	{
-	}
-
-	btTriangleShapeEx(const btTriangleShapeEx & other):	btTriangleShape(other.m_vertices1[0],other.m_vertices1[1],other.m_vertices1[2])
-	{
-	}
-
-	virtual void getAabb(const btTransform& t,btVector3& aabbMin,btVector3& aabbMax)const
-	{
-		btVector3 tv0 = t(m_vertices1[0]);
-		btVector3 tv1 = t(m_vertices1[1]);
-		btVector3 tv2 = t(m_vertices1[2]);
-
-		btAABB trianglebox(tv0,tv1,tv2,m_collisionMargin);
-		aabbMin = trianglebox.m_min;
-		aabbMax = trianglebox.m_max;
-	}
-
-	void applyTransform(const btTransform& t)
-	{
-		m_vertices1[0] = t(m_vertices1[0]);
-		m_vertices1[1] = t(m_vertices1[1]);
-		m_vertices1[2] = t(m_vertices1[2]);
-	}
-
-	SIMD_FORCE_INLINE void buildTriPlane(btVector4 & plane) const
-	{
-		btVector3 normal = (m_vertices1[1]-m_vertices1[0]).cross(m_vertices1[2]-m_vertices1[0]);
-		normal.normalize();
-		plane.setValue(normal[0],normal[1],normal[2],m_vertices1[0].dot(normal));
-	}
-
-	bool overlap_test_conservative(const btTriangleShapeEx& other);
-};
-
-
-#endif //GIMPACT_TRIANGLE_MESH_SHAPE_H