ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux
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- checksums.yaml +7 -0
- data/README.md +3 -0
- data/Rakefile +14 -2
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +2 -2
- data/bindings/bullet/interface/bullet_wrap.cpp +17548 -6035
- data/bindings/bullet/interface/bullet_wrap.h +7 -7
- data/bindings/bullet/interface/bullet_wrap.o +0 -0
- data/lib/bullet.so +0 -0
- data/lib/ruby-bullet/version.rb +1 -1
- data/ruby-bullet.gemspec +0 -3
- metadata +169 -444
- data/deps/include/bullet/Bullet-C-Api.h +0 -176
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +0 -1051
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +0 -82
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +0 -270
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +0 -80
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +0 -1257
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +0 -146
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +0 -110
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +0 -151
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +0 -469
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +0 -40
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +0 -579
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +0 -171
- data/deps/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h +0 -51
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h +0 -36
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h +0 -44
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h +0 -45
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +0 -172
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +0 -524
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h +0 -509
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +0 -86
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h +0 -95
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h +0 -116
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +0 -109
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +0 -137
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h +0 -54
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h +0 -175
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +0 -46
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h +0 -128
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +0 -81
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h +0 -129
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h +0 -369
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h +0 -312
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +0 -139
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +0 -173
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h +0 -27
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h +0 -150
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +0 -212
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConeShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h +0 -80
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h +0 -122
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h +0 -224
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h +0 -105
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h +0 -62
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.h +0 -200
- data/deps/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h +0 -70
- data/deps/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +0 -161
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMaterial.h +0 -35
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h +0 -99
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h +0 -120
- data/deps/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h +0 -65
- data/deps/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +0 -112
- data/deps/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h +0 -93
- data/deps/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h +0 -59
- data/deps/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h +0 -73
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +0 -162
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h +0 -74
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h +0 -42
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +0 -133
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h +0 -241
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h +0 -89
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h +0 -182
- data/deps/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h +0 -87
- data/deps/include/bullet/BulletCollision/Gimpact/btBoxCollision.h +0 -647
- data/deps/include/bullet/BulletCollision/Gimpact/btClipPolygon.h +0 -182
- data/deps/include/bullet/BulletCollision/Gimpact/btContactProcessing.h +0 -145
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactBvh.h +0 -396
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +0 -306
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h +0 -60
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +0 -372
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactShape.h +0 -1171
- data/deps/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h +0 -163
- data/deps/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h +0 -212
- data/deps/include/bullet/BulletCollision/Gimpact/btQuantization.h +0 -88
- data/deps/include/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h +0 -180
- data/deps/include/bullet/BulletCollision/Gimpact/gim_array.h +0 -326
- data/deps/include/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h +0 -543
- data/deps/include/bullet/BulletCollision/Gimpact/gim_bitset.h +0 -123
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_collision.h +0 -590
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_set.h +0 -674
- data/deps/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h +0 -210
- data/deps/include/bullet/BulletCollision/Gimpact/gim_contact.h +0 -164
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geom_types.h +0 -97
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geometry.h +0 -42
- data/deps/include/bullet/BulletCollision/Gimpact/gim_hash_table.h +0 -902
- data/deps/include/bullet/BulletCollision/Gimpact/gim_linear_math.h +0 -1573
- data/deps/include/bullet/BulletCollision/Gimpact/gim_math.h +0 -157
- data/deps/include/bullet/BulletCollision/Gimpact/gim_memory.h +0 -190
- data/deps/include/bullet/BulletCollision/Gimpact/gim_radixsort.h +0 -406
- data/deps/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h +0 -379
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +0 -59
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h +0 -73
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h +0 -42
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +0 -91
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h +0 -75
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h +0 -43
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +0 -103
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +0 -158
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h +0 -40
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +0 -228
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h +0 -64
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h +0 -46
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +0 -72
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h +0 -63
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h +0 -179
- data/deps/include/bullet/BulletCollision/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h +0 -163
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +0 -346
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +0 -52
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h +0 -71
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +0 -87
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +0 -614
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +0 -99
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h +0 -58
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h +0 -381
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h +0 -156
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +0 -161
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +0 -130
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +0 -333
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +0 -107
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h +0 -191
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h +0 -98
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h +0 -452
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +0 -62
- data/deps/include/bullet/BulletDynamics/Dynamics/btActionInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +0 -203
- data/deps/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +0 -151
- data/deps/include/bullet/BulletDynamics/Dynamics/btRigidBody.h +0 -691
- data/deps/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +0 -89
- data/deps/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h +0 -236
- data/deps/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h +0 -35
- data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h +0 -119
- data/deps/include/bullet/BulletDynamics/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h +0 -323
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h +0 -103
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h +0 -173
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h +0 -107
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h +0 -63
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h +0 -691
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h +0 -209
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h +0 -169
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h +0 -62
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h +0 -84
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h +0 -166
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h +0 -527
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h +0 -748
- data/deps/include/bullet/BulletMultiThreaded/HeapManager.h +0 -117
- data/deps/include/bullet/BulletMultiThreaded/PlatformDefinitions.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/PosixThreadSupport.h +0 -142
- data/deps/include/bullet/BulletMultiThreaded/PpuAddressSpace.h +0 -37
- data/deps/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h +0 -40
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h +0 -163
- data/deps/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h +0 -120
- data/deps/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h +0 -126
- data/deps/include/bullet/BulletMultiThreaded/SpuFakeDma.h +0 -135
- data/deps/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h +0 -72
- data/deps/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h +0 -180
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h +0 -167
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h +0 -128
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h +0 -106
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h +0 -51
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h +0 -140
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h +0 -19
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h +0 -70
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h +0 -65
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h +0 -54
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h +0 -153
- data/deps/include/bullet/BulletMultiThreaded/SpuSync.h +0 -149
- data/deps/include/bullet/BulletMultiThreaded/TrbDynBody.h +0 -79
- data/deps/include/bullet/BulletMultiThreaded/TrbStateVec.h +0 -339
- data/deps/include/bullet/BulletMultiThreaded/Win32ThreadSupport.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h +0 -430
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h +0 -61
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h +0 -67
- data/deps/include/bullet/BulletMultiThreaded/btGpuDefines.h +0 -211
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h +0 -55
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/btParallelConstraintSolver.h +0 -285
- data/deps/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h +0 -85
- data/deps/include/bullet/BulletMultiThreaded/vectormath2bullet.h +0 -73
- data/deps/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +0 -63
- data/deps/include/bullet/BulletSoftBody/btSoftBody.h +0 -987
- data/deps/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h +0 -153
- data/deps/include/bullet/BulletSoftBody/btSoftBodyData.h +0 -217
- data/deps/include/bullet/BulletSoftBody/btSoftBodyHelpers.h +0 -143
- data/deps/include/bullet/BulletSoftBody/btSoftBodyInternals.h +0 -930
- data/deps/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h +0 -165
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolvers.h +0 -154
- data/deps/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h +0 -107
- data/deps/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletSoftBody/btSparseSDF.h +0 -306
- data/deps/include/bullet/LinearMath/btAabbUtil2.h +0 -236
- data/deps/include/bullet/LinearMath/btAlignedAllocator.h +0 -107
- data/deps/include/bullet/LinearMath/btAlignedObjectArray.h +0 -494
- data/deps/include/bullet/LinearMath/btConvexHull.h +0 -241
- data/deps/include/bullet/LinearMath/btConvexHullComputer.h +0 -103
- data/deps/include/bullet/LinearMath/btDefaultMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btGeometryUtil.h +0 -42
- data/deps/include/bullet/LinearMath/btGrahamScan2dConvexHull.h +0 -110
- data/deps/include/bullet/LinearMath/btHashMap.h +0 -450
- data/deps/include/bullet/LinearMath/btIDebugDraw.h +0 -418
- data/deps/include/bullet/LinearMath/btList.h +0 -73
- data/deps/include/bullet/LinearMath/btMatrix3x3.h +0 -771
- data/deps/include/bullet/LinearMath/btMinMax.h +0 -71
- data/deps/include/bullet/LinearMath/btMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btPoolAllocator.h +0 -121
- data/deps/include/bullet/LinearMath/btQuadWord.h +0 -180
- data/deps/include/bullet/LinearMath/btQuaternion.h +0 -430
- data/deps/include/bullet/LinearMath/btQuickprof.h +0 -203
- data/deps/include/bullet/LinearMath/btRandom.h +0 -42
- data/deps/include/bullet/LinearMath/btScalar.h +0 -539
- data/deps/include/bullet/LinearMath/btSerializer.h +0 -639
- data/deps/include/bullet/LinearMath/btStackAlloc.h +0 -116
- data/deps/include/bullet/LinearMath/btTransform.h +0 -307
- data/deps/include/bullet/LinearMath/btTransformUtil.h +0 -228
- data/deps/include/bullet/LinearMath/btVector3.h +0 -766
- data/deps/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h +0 -62
- data/deps/include/bullet/MiniCL/MiniCLTaskScheduler.h +0 -194
- data/deps/include/bullet/MiniCL/cl.h +0 -867
- data/deps/include/bullet/MiniCL/cl_MiniCL_Defs.h +0 -439
- data/deps/include/bullet/MiniCL/cl_gl.h +0 -113
- data/deps/include/bullet/MiniCL/cl_platform.h +0 -254
- data/deps/include/bullet/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/vectormath/scalar/boolInVec.h +0 -225
- data/deps/include/bullet/vectormath/scalar/floatInVec.h +0 -343
- data/deps/include/bullet/vectormath/scalar/mat_aos.h +0 -1630
- data/deps/include/bullet/vectormath/scalar/quat_aos.h +0 -433
- data/deps/include/bullet/vectormath/scalar/vec_aos.h +0 -1426
- data/deps/include/bullet/vectormath/scalar/vectormath_aos.h +0 -1872
- data/deps/include/bullet/vectormath/sse/boolInVec.h +0 -247
- data/deps/include/bullet/vectormath/sse/floatInVec.h +0 -340
- data/deps/include/bullet/vectormath/sse/mat_aos.h +0 -2190
- data/deps/include/bullet/vectormath/sse/quat_aos.h +0 -579
- data/deps/include/bullet/vectormath/sse/vec_aos.h +0 -1455
- data/deps/include/bullet/vectormath/sse/vecidx_aos.h +0 -80
- data/deps/include/bullet/vectormath/sse/vectormath_aos.h +0 -2547
- data/deps/include/bullet/vectormath/vmInclude.h +0 -27
- data/deps/lib/libBulletCollision.a +0 -0
- data/deps/lib/libBulletDynamics.a +0 -0
- data/deps/lib/libBulletMultiThreaded.a +0 -0
- data/deps/lib/libBulletSoftBody.a +0 -0
- data/deps/lib/libBulletSoftBodySolvers_OpenCL_Mini.a +0 -0
- data/deps/lib/libLinearMath.a +0 -0
- data/deps/lib/libMiniCL.a +0 -0
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#ifndef GIM_BOX_COLLISION_H_INCLUDED
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#define GIM_BOX_COLLISION_H_INCLUDED
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/*! \file gim_box_collision.h
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\author Francisco Leon Najera
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*/
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/*
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-----------------------------------------------------------------------------
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of EITHER:
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(1) The GNU Lesser General Public License as published by the Free
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Software Foundation; either version 2.1 of the License, or (at
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your option) any later version. The text of the GNU Lesser
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General Public License is included with this library in the
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file GIMPACT-LICENSE-LGPL.TXT.
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(2) The BSD-style license that is included with this library in
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the file GIMPACT-LICENSE-BSD.TXT.
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(3) The zlib/libpng license that is included with this library in
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the file GIMPACT-LICENSE-ZLIB.TXT.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
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GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
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-----------------------------------------------------------------------------
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*/
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#include "gim_basic_geometry_operations.h"
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#include "LinearMath/btTransform.h"
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//SIMD_FORCE_INLINE bool test_cross_edge_box(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, const btVector3 & extend,
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// int dir_index0,
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// int dir_index1
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// int component_index0,
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// int component_index1)
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//{
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// // dir coords are -z and y
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//
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// const btScalar dir0 = -edge[dir_index0];
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// const btScalar dir1 = edge[dir_index1];
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// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
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// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
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// //find minmax
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// if(pmin>pmax)
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// {
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// GIM_SWAP_NUMBERS(pmin,pmax);
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// }
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// //find extends
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// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
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// extend[component_index1] * absolute_edge[dir_index1];
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//
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// if(pmin>rad || -rad>pmax) return false;
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// return true;
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//}
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
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//}
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//
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
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//}
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
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//}
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#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
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{\
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const btScalar dir0 = -edge[i_dir_0];\
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const btScalar dir1 = edge[i_dir_1];\
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btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
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btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
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if(pmin>pmax)\
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{\
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GIM_SWAP_NUMBERS(pmin,pmax); \
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}\
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const btScalar abs_dir0 = absolute_edge[i_dir_0];\
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const btScalar abs_dir1 = absolute_edge[i_dir_1];\
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const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
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if(pmin>rad || -rad>pmax) return false;\
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}\
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#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
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}\
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#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
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}\
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#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
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}\
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//! Class for transforming a model1 to the space of model0
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class GIM_BOX_BOX_TRANSFORM_CACHE
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{
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public:
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btVector3 m_T1to0;//!< Transforms translation of model1 to model 0
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btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1
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btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
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SIMD_FORCE_INLINE void calc_absolute_matrix()
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{
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static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
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m_AR[0] = vepsi + m_R1to0[0].absolute();
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m_AR[1] = vepsi + m_R1to0[1].absolute();
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m_AR[2] = vepsi + m_R1to0[2].absolute();
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}
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GIM_BOX_BOX_TRANSFORM_CACHE()
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{
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}
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GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0)
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{
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COPY_MATRIX_3X3(m_R1to0,trans1_to_0)
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MAT_GET_TRANSLATION(trans1_to_0,m_T1to0)
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calc_absolute_matrix();
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}
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//! Calc the transformation relative 1 to 0. Inverts matrics by transposing
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SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
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{
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m_R1to0 = trans0.getBasis().transpose();
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m_T1to0 = m_R1to0 * (-trans0.getOrigin());
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m_T1to0 += m_R1to0*trans1.getOrigin();
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m_R1to0 *= trans1.getBasis();
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calc_absolute_matrix();
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}
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//! Calcs the full invertion of the matrices. Useful for scaling matrices
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SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
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{
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m_R1to0 = trans0.getBasis().inverse();
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m_T1to0 = m_R1to0 * (-trans0.getOrigin());
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m_T1to0 += m_R1to0*trans1.getOrigin();
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m_R1to0 *= trans1.getBasis();
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calc_absolute_matrix();
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}
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SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
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{
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return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
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m_R1to0[1].dot(point) + m_T1to0.y(),
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m_R1to0[2].dot(point) + m_T1to0.z());
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}
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};
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#define BOX_PLANE_EPSILON 0.000001f
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//! Axis aligned box
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class GIM_AABB
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{
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public:
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btVector3 m_min;
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btVector3 m_max;
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GIM_AABB()
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{}
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GIM_AABB(const btVector3 & V1,
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const btVector3 & V2,
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const btVector3 & V3)
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{
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m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
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}
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GIM_AABB(const btVector3 & V1,
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const btVector3 & V2,
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const btVector3 & V3,
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GREAL margin)
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{
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m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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GIM_AABB(const GIM_AABB &other):
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m_min(other.m_min),m_max(other.m_max)
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{
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}
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GIM_AABB(const GIM_AABB &other,btScalar margin ):
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m_min(other.m_min),m_max(other.m_max)
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{
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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SIMD_FORCE_INLINE void invalidate()
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{
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m_min[0] = G_REAL_INFINITY;
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m_min[1] = G_REAL_INFINITY;
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m_min[2] = G_REAL_INFINITY;
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m_max[0] = -G_REAL_INFINITY;
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m_max[1] = -G_REAL_INFINITY;
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m_max[2] = -G_REAL_INFINITY;
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}
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SIMD_FORCE_INLINE void increment_margin(btScalar margin)
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{
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin)
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{
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m_min[0] = other.m_min[0] - margin;
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m_min[1] = other.m_min[1] - margin;
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m_min[2] = other.m_min[2] - margin;
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m_max[0] = other.m_max[0] + margin;
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m_max[1] = other.m_max[1] + margin;
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m_max[2] = other.m_max[2] + margin;
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}
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template<typename CLASS_POINT>
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SIMD_FORCE_INLINE void calc_from_triangle(
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const CLASS_POINT & V1,
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const CLASS_POINT & V2,
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const CLASS_POINT & V3)
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{
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m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
|
303
|
-
}
|
304
|
-
|
305
|
-
template<typename CLASS_POINT>
|
306
|
-
SIMD_FORCE_INLINE void calc_from_triangle_margin(
|
307
|
-
const CLASS_POINT & V1,
|
308
|
-
const CLASS_POINT & V2,
|
309
|
-
const CLASS_POINT & V3, btScalar margin)
|
310
|
-
{
|
311
|
-
m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
|
312
|
-
m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
|
313
|
-
m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
|
314
|
-
|
315
|
-
m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
|
316
|
-
m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
|
317
|
-
m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
|
318
|
-
|
319
|
-
m_min[0] -= margin;
|
320
|
-
m_min[1] -= margin;
|
321
|
-
m_min[2] -= margin;
|
322
|
-
m_max[0] += margin;
|
323
|
-
m_max[1] += margin;
|
324
|
-
m_max[2] += margin;
|
325
|
-
}
|
326
|
-
|
327
|
-
//! Apply a transform to an AABB
|
328
|
-
SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
|
329
|
-
{
|
330
|
-
btVector3 center = (m_max+m_min)*0.5f;
|
331
|
-
btVector3 extends = m_max - center;
|
332
|
-
// Compute new center
|
333
|
-
center = trans(center);
|
334
|
-
|
335
|
-
btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
|
336
|
-
extends.dot(trans.getBasis().getRow(1).absolute()),
|
337
|
-
extends.dot(trans.getBasis().getRow(2).absolute()));
|
338
|
-
|
339
|
-
m_min = center - textends;
|
340
|
-
m_max = center + textends;
|
341
|
-
}
|
342
|
-
|
343
|
-
//! Merges a Box
|
344
|
-
SIMD_FORCE_INLINE void merge(const GIM_AABB & box)
|
345
|
-
{
|
346
|
-
m_min[0] = GIM_MIN(m_min[0],box.m_min[0]);
|
347
|
-
m_min[1] = GIM_MIN(m_min[1],box.m_min[1]);
|
348
|
-
m_min[2] = GIM_MIN(m_min[2],box.m_min[2]);
|
349
|
-
|
350
|
-
m_max[0] = GIM_MAX(m_max[0],box.m_max[0]);
|
351
|
-
m_max[1] = GIM_MAX(m_max[1],box.m_max[1]);
|
352
|
-
m_max[2] = GIM_MAX(m_max[2],box.m_max[2]);
|
353
|
-
}
|
354
|
-
|
355
|
-
//! Merges a point
|
356
|
-
template<typename CLASS_POINT>
|
357
|
-
SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
|
358
|
-
{
|
359
|
-
m_min[0] = GIM_MIN(m_min[0],point[0]);
|
360
|
-
m_min[1] = GIM_MIN(m_min[1],point[1]);
|
361
|
-
m_min[2] = GIM_MIN(m_min[2],point[2]);
|
362
|
-
|
363
|
-
m_max[0] = GIM_MAX(m_max[0],point[0]);
|
364
|
-
m_max[1] = GIM_MAX(m_max[1],point[1]);
|
365
|
-
m_max[2] = GIM_MAX(m_max[2],point[2]);
|
366
|
-
}
|
367
|
-
|
368
|
-
//! Gets the extend and center
|
369
|
-
SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const
|
370
|
-
{
|
371
|
-
center = (m_max+m_min)*0.5f;
|
372
|
-
extend = m_max - center;
|
373
|
-
}
|
374
|
-
|
375
|
-
//! Finds the intersecting box between this box and the other.
|
376
|
-
SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const
|
377
|
-
{
|
378
|
-
intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]);
|
379
|
-
intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]);
|
380
|
-
intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]);
|
381
|
-
|
382
|
-
intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]);
|
383
|
-
intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]);
|
384
|
-
intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]);
|
385
|
-
}
|
386
|
-
|
387
|
-
|
388
|
-
SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const
|
389
|
-
{
|
390
|
-
if(m_min[0] > other.m_max[0] ||
|
391
|
-
m_max[0] < other.m_min[0] ||
|
392
|
-
m_min[1] > other.m_max[1] ||
|
393
|
-
m_max[1] < other.m_min[1] ||
|
394
|
-
m_min[2] > other.m_max[2] ||
|
395
|
-
m_max[2] < other.m_min[2])
|
396
|
-
{
|
397
|
-
return false;
|
398
|
-
}
|
399
|
-
return true;
|
400
|
-
}
|
401
|
-
|
402
|
-
/*! \brief Finds the Ray intersection parameter.
|
403
|
-
\param aabb Aligned box
|
404
|
-
\param vorigin A vec3f with the origin of the ray
|
405
|
-
\param vdir A vec3f with the direction of the ray
|
406
|
-
*/
|
407
|
-
SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)
|
408
|
-
{
|
409
|
-
btVector3 extents,center;
|
410
|
-
this->get_center_extend(center,extents);;
|
411
|
-
|
412
|
-
btScalar Dx = vorigin[0] - center[0];
|
413
|
-
if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false;
|
414
|
-
btScalar Dy = vorigin[1] - center[1];
|
415
|
-
if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false;
|
416
|
-
btScalar Dz = vorigin[2] - center[2];
|
417
|
-
if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false;
|
418
|
-
|
419
|
-
|
420
|
-
btScalar f = vdir[1] * Dz - vdir[2] * Dy;
|
421
|
-
if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
|
422
|
-
f = vdir[2] * Dx - vdir[0] * Dz;
|
423
|
-
if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
|
424
|
-
f = vdir[0] * Dy - vdir[1] * Dx;
|
425
|
-
if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
|
426
|
-
return true;
|
427
|
-
}
|
428
|
-
|
429
|
-
|
430
|
-
SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
|
431
|
-
{
|
432
|
-
btVector3 center = (m_max+m_min)*0.5f;
|
433
|
-
btVector3 extend = m_max-center;
|
434
|
-
|
435
|
-
btScalar _fOrigin = direction.dot(center);
|
436
|
-
btScalar _fMaximumExtent = extend.dot(direction.absolute());
|
437
|
-
vmin = _fOrigin - _fMaximumExtent;
|
438
|
-
vmax = _fOrigin + _fMaximumExtent;
|
439
|
-
}
|
440
|
-
|
441
|
-
SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
|
442
|
-
{
|
443
|
-
btScalar _fmin,_fmax;
|
444
|
-
this->projection_interval(plane,_fmin,_fmax);
|
445
|
-
|
446
|
-
if(plane[3] > _fmax + BOX_PLANE_EPSILON)
|
447
|
-
{
|
448
|
-
return G_BACK_PLANE; // 0
|
449
|
-
}
|
450
|
-
|
451
|
-
if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
|
452
|
-
{
|
453
|
-
return G_COLLIDE_PLANE; //1
|
454
|
-
}
|
455
|
-
return G_FRONT_PLANE;//2
|
456
|
-
}
|
457
|
-
|
458
|
-
SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0)
|
459
|
-
{
|
460
|
-
GIM_AABB tbox = box;
|
461
|
-
tbox.appy_transform(trans1_to_0);
|
462
|
-
return has_collision(tbox);
|
463
|
-
}
|
464
|
-
|
465
|
-
//! transcache is the transformation cache from box to this AABB
|
466
|
-
SIMD_FORCE_INLINE bool overlapping_trans_cache(
|
467
|
-
const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest)
|
468
|
-
{
|
469
|
-
|
470
|
-
//Taken from OPCODE
|
471
|
-
btVector3 ea,eb;//extends
|
472
|
-
btVector3 ca,cb;//extends
|
473
|
-
get_center_extend(ca,ea);
|
474
|
-
box.get_center_extend(cb,eb);
|
475
|
-
|
476
|
-
|
477
|
-
btVector3 T;
|
478
|
-
btScalar t,t2;
|
479
|
-
int i;
|
480
|
-
|
481
|
-
// Class I : A's basis vectors
|
482
|
-
for(i=0;i<3;i++)
|
483
|
-
{
|
484
|
-
T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
|
485
|
-
t = transcache.m_AR[i].dot(eb) + ea[i];
|
486
|
-
if(GIM_GREATER(T[i], t)) return false;
|
487
|
-
}
|
488
|
-
// Class II : B's basis vectors
|
489
|
-
for(i=0;i<3;i++)
|
490
|
-
{
|
491
|
-
t = MAT_DOT_COL(transcache.m_R1to0,T,i);
|
492
|
-
t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i];
|
493
|
-
if(GIM_GREATER(t,t2)) return false;
|
494
|
-
}
|
495
|
-
// Class III : 9 cross products
|
496
|
-
if(fulltest)
|
497
|
-
{
|
498
|
-
int j,m,n,o,p,q,r;
|
499
|
-
for(i=0;i<3;i++)
|
500
|
-
{
|
501
|
-
m = (i+1)%3;
|
502
|
-
n = (i+2)%3;
|
503
|
-
o = i==0?1:0;
|
504
|
-
p = i==2?1:2;
|
505
|
-
for(j=0;j<3;j++)
|
506
|
-
{
|
507
|
-
q = j==2?1:2;
|
508
|
-
r = j==0?1:0;
|
509
|
-
t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
|
510
|
-
t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
|
511
|
-
eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
|
512
|
-
if(GIM_GREATER(t,t2)) return false;
|
513
|
-
}
|
514
|
-
}
|
515
|
-
}
|
516
|
-
return true;
|
517
|
-
}
|
518
|
-
|
519
|
-
//! Simple test for planes.
|
520
|
-
SIMD_FORCE_INLINE bool collide_plane(
|
521
|
-
const btVector4 & plane)
|
522
|
-
{
|
523
|
-
ePLANE_INTERSECTION_TYPE classify = plane_classify(plane);
|
524
|
-
return (classify == G_COLLIDE_PLANE);
|
525
|
-
}
|
526
|
-
|
527
|
-
//! test for a triangle, with edges
|
528
|
-
SIMD_FORCE_INLINE bool collide_triangle_exact(
|
529
|
-
const btVector3 & p1,
|
530
|
-
const btVector3 & p2,
|
531
|
-
const btVector3 & p3,
|
532
|
-
const btVector4 & triangle_plane)
|
533
|
-
{
|
534
|
-
if(!collide_plane(triangle_plane)) return false;
|
535
|
-
|
536
|
-
btVector3 center,extends;
|
537
|
-
this->get_center_extend(center,extends);
|
538
|
-
|
539
|
-
const btVector3 v1(p1 - center);
|
540
|
-
const btVector3 v2(p2 - center);
|
541
|
-
const btVector3 v3(p3 - center);
|
542
|
-
|
543
|
-
//First axis
|
544
|
-
btVector3 diff(v2 - v1);
|
545
|
-
btVector3 abs_diff = diff.absolute();
|
546
|
-
//Test With X axis
|
547
|
-
TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
|
548
|
-
//Test With Y axis
|
549
|
-
TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
|
550
|
-
//Test With Z axis
|
551
|
-
TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
|
552
|
-
|
553
|
-
|
554
|
-
diff = v3 - v2;
|
555
|
-
abs_diff = diff.absolute();
|
556
|
-
//Test With X axis
|
557
|
-
TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
|
558
|
-
//Test With Y axis
|
559
|
-
TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
|
560
|
-
//Test With Z axis
|
561
|
-
TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
|
562
|
-
|
563
|
-
diff = v1 - v3;
|
564
|
-
abs_diff = diff.absolute();
|
565
|
-
//Test With X axis
|
566
|
-
TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
|
567
|
-
//Test With Y axis
|
568
|
-
TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
|
569
|
-
//Test With Z axis
|
570
|
-
TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
|
571
|
-
|
572
|
-
return true;
|
573
|
-
}
|
574
|
-
};
|
575
|
-
|
576
|
-
|
577
|
-
//! Compairison of transformation objects
|
578
|
-
SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
|
579
|
-
{
|
580
|
-
if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
|
581
|
-
|
582
|
-
if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
|
583
|
-
if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
|
584
|
-
if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
|
585
|
-
return true;
|
586
|
-
}
|
587
|
-
|
588
|
-
|
589
|
-
|
590
|
-
#endif // GIM_BOX_COLLISION_H_INCLUDED
|