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

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

@@ -1,543 +0,0 @@
-#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED
-
-/*! \file gim_basic_geometry_operations.h
-*\author Francisco Leon Najera
-type independant geometry routines
-
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-
-#include "gim_linear_math.h"
-
-
-
-
-
-#define PLANEDIREPSILON 0.0000001f
-#define PARALELENORMALS 0.000001f
-
-
-#define TRIANGLE_NORMAL(v1,v2,v3,n)\
-{\
-	vec3f _dif1,_dif2;\
-    VEC_DIFF(_dif1,v2,v1);\
-    VEC_DIFF(_dif2,v3,v1);\
-    VEC_CROSS(n,_dif1,_dif2);\
-    VEC_NORMALIZE(n);\
-}\
-
-#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\
-    vec3f _dif1,_dif2; \
-    VEC_DIFF(_dif1,v2,v1); \
-    VEC_DIFF(_dif2,v3,v1); \
-    VEC_CROSS(n,_dif1,_dif2); \
-}\
-
-/// plane is a vec4f
-#define TRIANGLE_PLANE(v1,v2,v3,plane) {\
-    TRIANGLE_NORMAL(v1,v2,v3,plane);\
-    plane[3] = VEC_DOT(v1,plane);\
-}\
-
-/// plane is a vec4f
-#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\
-    TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
-    plane[3] = VEC_DOT(v1,plane);\
-}\
-
-/// Calc a plane from an edge an a normal. plane is a vec4f
-#define EDGE_PLANE(e1,e2,n,plane) {\
-    vec3f _dif; \
-    VEC_DIFF(_dif,e2,e1); \
-    VEC_CROSS(plane,_dif,n); \
-    VEC_NORMALIZE(plane); \
-    plane[3] = VEC_DOT(e1,plane);\
-}\
-
-#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])
-
-#define PROJECT_POINT_PLANE(point,plane,projected) {\
-	GREAL _dis;\
-	_dis = DISTANCE_PLANE_POINT(plane,point);\
-	VEC_SCALE(projected,-_dis,plane);\
-	VEC_SUM(projected,projected,point);	\
-}\
-
-//! Verifies if a point is in the plane hull
-template<typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool POINT_IN_HULL(
-	const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count)
-{
-	GREAL _dis;
-	for (GUINT _i = 0;_i< plane_count;++_i)
-	{
-		_dis = DISTANCE_PLANE_POINT(planes[_i],point);
-	    if(_dis>0.0f) return false;
-	}
-	return true;
-}
-
-template<typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
-	const CLASS_POINT& s1,
-	const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped)
-{
-	GREAL _dis1,_dis2;
-	_dis1 = DISTANCE_PLANE_POINT(plane,s1);
-	VEC_DIFF(clipped,s2,s1);
-	_dis2 = VEC_DOT(clipped,plane);
-	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
-	VEC_SUM(clipped,clipped,s1);
-}
-
-enum ePLANE_INTERSECTION_TYPE
-{
-	G_BACK_PLANE = 0,
-	G_COLLIDE_PLANE,
-	G_FRONT_PLANE
-};
-
-enum eLINE_PLANE_INTERSECTION_TYPE
-{
-	G_FRONT_PLANE_S1 = 0,
-	G_FRONT_PLANE_S2,
-	G_BACK_PLANE_S1,
-	G_BACK_PLANE_S2,
-	G_COLLIDE_PLANE_S1,
-	G_COLLIDE_PLANE_S2
-};
-
-//! Confirms if the plane intersect the edge or nor
-/*!
-intersection type must have the following values
-<ul>
-<li> 0 : Segment in front of plane, s1 closest
-<li> 1 : Segment in front of plane, s2 closest
-<li> 2 : Segment in back of plane, s1 closest
-<li> 3 : Segment in back of plane, s2 closest
-<li> 4 : Segment collides plane, s1 in back
-<li> 5 : Segment collides plane, s2 in back
-</ul>
-*/
-
-template<typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
-	const CLASS_POINT& s1,
-	const CLASS_POINT &s2,
-	const CLASS_PLANE &plane,CLASS_POINT &clipped)
-{
-	GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1);
-	GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2);
-	if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)
-	{
-	    if(_dis1<_dis2) return G_FRONT_PLANE_S1;
-	    return G_FRONT_PLANE_S2;
-	}
-	else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)
-	{
-	    if(_dis1>_dis2) return G_BACK_PLANE_S1;
-	    return G_BACK_PLANE_S2;
-	}
-
-	VEC_DIFF(clipped,s2,s1);
-	_dis2 = VEC_DOT(clipped,plane);
-	VEC_SCALE(clipped,-_dis1/_dis2,clipped);
-	VEC_SUM(clipped,clipped,s1);
-	if(_dis1<_dis2) return G_COLLIDE_PLANE_S1;
-	return G_COLLIDE_PLANE_S2;
-}
-
-//! Confirms if the plane intersect the edge or not
-/*!
-clipped1 and clipped2 are the vertices behind the plane.
-clipped1 is the closest
-
-intersection_type must have the following values
-<ul>
-<li> 0 : Segment in front of plane, s1 closest
-<li> 1 : Segment in front of plane, s2 closest
-<li> 2 : Segment in back of plane, s1 closest
-<li> 3 : Segment in back of plane, s2 closest
-<li> 4 : Segment collides plane, s1 in back
-<li> 5 : Segment collides plane, s2 in back
-</ul>
-*/
-template<typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
-	const CLASS_POINT& s1,
-	const CLASS_POINT &s2,
-	const CLASS_PLANE &plane,
-	CLASS_POINT &clipped1,CLASS_POINT &clipped2)
-{
-	eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1);
-	switch(intersection_type)
-	{
-	case G_FRONT_PLANE_S1:
-		VEC_COPY(clipped1,s1);
-	    VEC_COPY(clipped2,s2);
-		break;
-	case G_FRONT_PLANE_S2:
-		VEC_COPY(clipped1,s2);
-	    VEC_COPY(clipped2,s1);
-		break;
-	case G_BACK_PLANE_S1:
-		VEC_COPY(clipped1,s1);
-	    VEC_COPY(clipped2,s2);
-		break;
-	case G_BACK_PLANE_S2:
-		VEC_COPY(clipped1,s2);
-	    VEC_COPY(clipped2,s1);
-		break;
-	case G_COLLIDE_PLANE_S1:
-		VEC_COPY(clipped2,s1);
-		break;
-	case G_COLLIDE_PLANE_S2:
-		VEC_COPY(clipped2,s2);
-		break;
-	}
-	return intersection_type;
-}
-
-
-//! Finds the 2 smallest cartesian coordinates of a plane normal
-#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
-
-//! Ray plane collision in one way
-/*!
-Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
-It uses the PLANEDIREPSILON constant.
-*/
-template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
-	const CLASS_PLANE & plane,
-	const CLASS_POINT & vDir,
-	const CLASS_POINT & vPoint,
-	CLASS_POINT & pout,T &tparam)
-{
-	GREAL _dis,_dotdir;
-	_dotdir = VEC_DOT(plane,vDir);
-	if(_dotdir<PLANEDIREPSILON)
-	{
-	    return false;
-	}
-	_dis = DISTANCE_PLANE_POINT(plane,vPoint);
-	tparam = -_dis/_dotdir;
-	VEC_SCALE(pout,tparam,vDir);
-	VEC_SUM(pout,vPoint,pout);
-	return true;
-}
-
-//! line collision
-/*!
-*\return
-	-0  if the ray never intersects
-	-1 if the ray collides in front
-	-2 if the ray collides in back
-*/
-template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
-	const CLASS_PLANE & plane,
-	const CLASS_POINT & vDir,
-	const CLASS_POINT & vPoint,
-	CLASS_POINT & pout,
-	T &tparam,
-	T tmin, T tmax)
-{
-	GREAL _dis,_dotdir;
-	_dotdir = VEC_DOT(plane,vDir);
-	if(btFabs(_dotdir)<PLANEDIREPSILON)
-	{
-		tparam = tmax;
-	    return 0;
-	}
-	_dis = DISTANCE_PLANE_POINT(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;
-	}
-
-	VEC_SCALE(pout,tparam,vDir);
-	VEC_SUM(pout,vPoint,pout);
-	return returnvalue;
-}
-
-/*! \brief Returns the Ray on which 2 planes intersect if they do.
-    Written by Rodrigo Hernandez on ODE convex collision
-
-  \param p1 Plane 1
-  \param p2 Plane 2
-  \param p Contains the origin of the ray upon returning if planes intersect
-  \param d Contains the direction of the ray upon returning if planes intersect
-  \return true if the planes intersect, 0 if paralell.
-
-*/
-template<typename CLASS_POINT,typename CLASS_PLANE>
-SIMD_FORCE_INLINE bool INTERSECT_PLANES(
-		const CLASS_PLANE &p1,
-		const CLASS_PLANE &p2,
-		CLASS_POINT &p,
-		CLASS_POINT &d)
-{
-	VEC_CROSS(d,p1,p2);
-  	GREAL denom = VEC_DOT(d, d);
-  	if(GIM_IS_ZERO(denom)) return false;
-	vec3f _n;
-	_n[0]=p1[3]*p2[0] - p2[3]*p1[0];
-	_n[1]=p1[3]*p2[1] - p2[3]*p1[1];
-	_n[2]=p1[3]*p2[2] - p2[3]*p1[2];
-	VEC_CROSS(p,_n,d);
-	p[0]/=denom;
-	p[1]/=denom;
-	p[2]/=denom;
-	return true;
-}
-
-//***************** SEGMENT and LINE FUNCTIONS **********************************///
-
-/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
- */
-template<typename CLASS_POINT>
-SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
-	CLASS_POINT & cp, const CLASS_POINT & v,
-	const CLASS_POINT &e1,const CLASS_POINT &e2)
-{
-    vec3f _n;
-    VEC_DIFF(_n,e2,e1);
-    VEC_DIFF(cp,v,e1);
-	GREAL _scalar = VEC_DOT(cp, _n);
-	_scalar/= VEC_DOT(_n, _n);
-	if(_scalar <0.0f)
-	{
-	    VEC_COPY(cp,e1);
-	}
-	else if(_scalar >1.0f)
-	{
-	    VEC_COPY(cp,e2);
-	}
-	else
-	{
-        VEC_SCALE(cp,_scalar,_n);
-        VEC_SUM(cp,cp,e1);
-	}
-}
-
-
-/*! \brief Finds the line params where these lines intersect.
-
-\param dir1 Direction of line 1
-\param point1 Point of line 1
-\param dir2 Direction of line 2
-\param point2 Point of line 2
-\param t1 Result Parameter for line 1
-\param t2 Result Parameter for line 2
-\param dointersect  0  if the lines won't intersect, else 1
-
-*/
-template<typename T,typename CLASS_POINT>
-SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
-	const CLASS_POINT & dir1,
-	CLASS_POINT & point1,
-	const CLASS_POINT & dir2,
-	CLASS_POINT &  point2,
-	T& t1,T& t2)
-{
-    GREAL det;
-	GREAL e1e1 = VEC_DOT(dir1,dir1);
-	GREAL e1e2 = VEC_DOT(dir1,dir2);
-	GREAL e2e2 = VEC_DOT(dir2,dir2);
-	vec3f p1p2;
-    VEC_DIFF(p1p2,point1,point2);
-    GREAL p1p2e1 = VEC_DOT(p1p2,dir1);
-	GREAL p1p2e2 = VEC_DOT(p1p2,dir2);
-	det = e1e2*e1e2 - e1e1*e2e2;
-	if(GIM_IS_ZERO(det)) return false;
-	t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;
-	t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;
-	return true;
-}
-
-//! Find closest points on segments
-template<typename CLASS_POINT>
-SIMD_FORCE_INLINE void SEGMENT_COLLISION(
-	const CLASS_POINT & vA1,
-	const CLASS_POINT & vA2,
-	const CLASS_POINT & vB1,
-	const CLASS_POINT & vB2,
-	CLASS_POINT & vPointA,
-	CLASS_POINT & vPointB)
-{
-    CLASS_POINT _AD,_BD,_N;
-    vec4f _M;//plane
-    VEC_DIFF(_AD,vA2,vA1);
-    VEC_DIFF(_BD,vB2,vB1);
-    VEC_CROSS(_N,_AD,_BD);
-    GREAL _tp = VEC_DOT(_N,_N);
-    if(_tp<G_EPSILON)//ARE PARALELE
-    {
-    	//project B over A
-    	bool invert_b_order = false;
-    	_M[0] = VEC_DOT(vB1,_AD);
-    	_M[1] = VEC_DOT(vB2,_AD);
-    	if(_M[0]>_M[1])
-    	{
-    		invert_b_order  = true;
-    		GIM_SWAP_NUMBERS(_M[0],_M[1]);
-    	}
-    	_M[2] = VEC_DOT(vA1,_AD);
-    	_M[3] = VEC_DOT(vA2,_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;
-    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
-    		}
-    		else
-    		{
-    			vPointA = vA2;
-    			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;
-    			CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
-    		}
-    		else
-    		{
-    			vPointB = invert_b_order?vB1:vB2;
-    			CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
-    		}
-    	}
-    	return;
-    }
-
-
-    VEC_CROSS(_M,_N,_BD);
-    _M[3] = VEC_DOT(_M,vB1);
-
-    LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1));
-    /*Closest point on segment*/
-    VEC_DIFF(vPointB,vPointA,vB1);
-	_tp = VEC_DOT(vPointB, _BD);
-	_tp/= VEC_DOT(_BD, _BD);
-	_tp = GIM_CLAMP(_tp,0.0f,1.0f);
-    VEC_SCALE(vPointB,_tp,_BD);
-    VEC_SUM(vPointB,vPointB,vB1);
-}
-
-
-
-
-//! Line box intersection in one dimension
-/*!
-
-*\param pos Position of the ray
-*\param dir Projection of the Direction of the ray
-*\param bmin Minimum bound of the box
-*\param bmax Maximum bound of the box
-*\param tfirst the minimum projection. Assign to 0 at first.
-*\param tlast the maximum projection. Assign to INFINITY at first.
-*\return true if there is an intersection.
-*/
-template<typename T>
-SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast)
-{
-	if(GIM_IS_ZERO(dir))
-	{
-        return !(pos < bmin || pos > bmax);
-	}
-	GREAL a0 = (bmin - pos) / dir;
-	GREAL a1 = (bmax - pos) / dir;
-	if(a0 > a1)   GIM_SWAP_NUMBERS(a0, a1);
-	tfirst = GIM_MAX(a0, tfirst);
-	tlast = GIM_MIN(a1, tlast);
-	if (tlast < tfirst) return false;
-	return true;
-}
-
-
-//! Sorts 3 componets
-template<typename T>
-SIMD_FORCE_INLINE void SORT_3_INDICES(
-		const T * values,
-		GUINT * order_indices)
-{
-	//get minimum
-	order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
-
-	//get second and third
-	GUINT i0 = (order_indices[0] + 1)%3;
-	GUINT i1 = (i0 + 1)%3;
-
-	if(values[i0] < values[i1])
-	{
-		order_indices[1] = i0;
-		order_indices[2] = i1;
-	}
-	else
-	{
-		order_indices[1] = i1;
-		order_indices[2] = i0;
-	}
-}
-
-
-
-
-
-#endif // GIM_VECTOR_H_INCLUDED

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

@@ -1,123 +0,0 @@
-#ifndef GIM_BITSET_H_INCLUDED
-#define GIM_BITSET_H_INCLUDED
-/*! \file gim_bitset.h
-\author Francisco Leon Najera
-*/
-/*
------------------------------------------------------------------------------
-This source file is part of GIMPACT Library.
-
-For the latest info, see http://gimpact.sourceforge.net/
-
-Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
-email: projectileman@yahoo.com
-
- This library is free software; you can redistribute it and/or
- modify it under the terms of EITHER:
-   (1) The GNU Lesser General Public License as published by the Free
-       Software Foundation; either version 2.1 of the License, or (at
-       your option) any later version. The text of the GNU Lesser
-       General Public License is included with this library in the
-       file GIMPACT-LICENSE-LGPL.TXT.
-   (2) The BSD-style license that is included with this library in
-       the file GIMPACT-LICENSE-BSD.TXT.
-   (3) The zlib/libpng license that is included with this library in
-       the file GIMPACT-LICENSE-ZLIB.TXT.
-
- This library is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
- GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
-
------------------------------------------------------------------------------
-*/
-
-#include "gim_array.h"
-
-
-#define GUINT_BIT_COUNT 32
-#define GUINT_EXPONENT 5
-
-class gim_bitset
-{
-public:
-    gim_array<GUINT> m_container;
-
-    gim_bitset()
-    {
-
-    }
-
-    gim_bitset(GUINT bits_count)
-    {
-        resize(bits_count);
-    }
-
-    ~gim_bitset()
-    {
-    }
-
-	inline bool resize(GUINT newsize)
-	{
-		GUINT oldsize = m_container.size();
-		m_container.resize(newsize/GUINT_BIT_COUNT + 1,false);
-		while(oldsize<m_container.size())
-		{
-			m_container[oldsize] = 0;
-		}
-		return true;
-	}
-
-	inline GUINT size()
-	{
-		return m_container.size()*GUINT_BIT_COUNT;
-	}
-
-	inline void set_all()
-	{
-		for(GUINT i = 0;i<m_container.size();++i)
-		{
-			m_container[i] = 0xffffffff;
-		}
-	}
-
-	inline void clear_all()
-	{
-	    for(GUINT i = 0;i<m_container.size();++i)
-		{
-			m_container[i] = 0;
-		}
-	}
-
-	inline void set(GUINT bit_index)
-	{
-		if(bit_index>=size())
-		{
-			resize(bit_index);
-		}
-		m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));
-	}
-
-	///Return 0 or 1
-	inline char get(GUINT bit_index)
-	{
-		if(bit_index>=size())
-		{
-			return 0;
-		}
-		char value = m_container[bit_index >> GUINT_EXPONENT] &
-					 (1 << (bit_index & (GUINT_BIT_COUNT-1)));
-		return value;
-	}
-
-	inline void clear(GUINT bit_index)
-	{
-	    m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));
-	}
-};
-
-
-
-
-
-#endif // GIM_CONTAINERS_H_INCLUDED