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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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2008 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the
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use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software in a
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product, an acknowledgment in the product documentation would be appreciated
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but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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*/
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/*
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GJK-EPA collision solver by Nathanael Presson, 2008
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*/
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#ifndef BT_GJK_EPA2_H
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#define BT_GJK_EPA2_H
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#include "BulletCollision/CollisionShapes/btConvexShape.h"
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///btGjkEpaSolver contributed under zlib by Nathanael Presson
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struct btGjkEpaSolver2
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{
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struct sResults
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{
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enum eStatus
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{
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Separated, /* Shapes doesnt penetrate */
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Penetrating, /* Shapes are penetrating */
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GJK_Failed, /* GJK phase fail, no big issue, shapes are probably just 'touching' */
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EPA_Failed /* EPA phase fail, bigger problem, need to save parameters, and debug */
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} status;
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btVector3 witnesses[2];
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btVector3 normal;
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btScalar distance;
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};
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static int StackSizeRequirement();
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static bool Distance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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static bool Penetration(const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results,
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bool usemargins=true);
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#ifndef __SPU__
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static btScalar SignedDistance( const btVector3& position,
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btScalar margin,
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const btConvexShape* shape,
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const btTransform& wtrs,
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sResults& results);
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static bool SignedDistance( const btConvexShape* shape0,const btTransform& wtrs0,
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const btConvexShape* shape1,const btTransform& wtrs1,
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const btVector3& guess,
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sResults& results);
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#endif //__SPU__
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};
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#endif //BT_GJK_EPA2_H
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data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
DELETED
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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EPA Copyright (c) Ricardo Padrela 2006
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_GJP_EPA_PENETRATION_DEPTH_H
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#define BT_GJP_EPA_PENETRATION_DEPTH_H
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#include "btConvexPenetrationDepthSolver.h"
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///EpaPenetrationDepthSolver uses the Expanding Polytope Algorithm to
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///calculate the penetration depth between two convex shapes.
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class btGjkEpaPenetrationDepthSolver : public btConvexPenetrationDepthSolver
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{
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public :
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btGjkEpaPenetrationDepthSolver()
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{
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}
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bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
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const btConvexShape* pConvexA, const btConvexShape* pConvexB,
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const btTransform& transformA, const btTransform& transformB,
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btVector3& v, btVector3& wWitnessOnA, btVector3& wWitnessOnB,
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc );
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private :
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};
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#endif // BT_GJP_EPA_PENETRATION_DEPTH_H
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_GJK_PAIR_DETECTOR_H
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#define BT_GJK_PAIR_DETECTOR_H
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#include "btDiscreteCollisionDetectorInterface.h"
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#include "BulletCollision/CollisionShapes/btCollisionMargin.h"
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class btConvexShape;
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#include "btSimplexSolverInterface.h"
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class btConvexPenetrationDepthSolver;
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/// btGjkPairDetector uses GJK to implement the btDiscreteCollisionDetectorInterface
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class btGjkPairDetector : public btDiscreteCollisionDetectorInterface
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{
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btVector3 m_cachedSeparatingAxis;
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btConvexPenetrationDepthSolver* m_penetrationDepthSolver;
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btSimplexSolverInterface* m_simplexSolver;
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const btConvexShape* m_minkowskiA;
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const btConvexShape* m_minkowskiB;
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int m_shapeTypeA;
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int m_shapeTypeB;
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btScalar m_marginA;
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btScalar m_marginB;
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bool m_ignoreMargin;
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btScalar m_cachedSeparatingDistance;
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public:
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//some debugging to fix degeneracy problems
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int m_lastUsedMethod;
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int m_curIter;
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int m_degenerateSimplex;
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int m_catchDegeneracies;
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btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
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btGjkPairDetector(const btConvexShape* objectA,const btConvexShape* objectB,int shapeTypeA,int shapeTypeB,btScalar marginA, btScalar marginB, btSimplexSolverInterface* simplexSolver,btConvexPenetrationDepthSolver* penetrationDepthSolver);
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virtual ~btGjkPairDetector() {};
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virtual void getClosestPoints(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw,bool swapResults=false);
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void getClosestPointsNonVirtual(const ClosestPointInput& input,Result& output,class btIDebugDraw* debugDraw);
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void setMinkowskiA(btConvexShape* minkA)
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{
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m_minkowskiA = minkA;
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}
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void setMinkowskiB(btConvexShape* minkB)
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{
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m_minkowskiB = minkB;
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}
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void setCachedSeperatingAxis(const btVector3& seperatingAxis)
|
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{
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m_cachedSeparatingAxis = seperatingAxis;
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}
|
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|
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const btVector3& getCachedSeparatingAxis() const
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{
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return m_cachedSeparatingAxis;
|
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}
|
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btScalar getCachedSeparatingDistance() const
|
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{
|
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return m_cachedSeparatingDistance;
|
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}
|
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|
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void setPenetrationDepthSolver(btConvexPenetrationDepthSolver* penetrationDepthSolver)
|
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{
|
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m_penetrationDepthSolver = penetrationDepthSolver;
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}
|
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|
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///don't use setIgnoreMargin, it's for Bullet's internal use
|
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void setIgnoreMargin(bool ignoreMargin)
|
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{
|
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m_ignoreMargin = ignoreMargin;
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}
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};
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#endif //BT_GJK_PAIR_DETECTOR_H
|
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/*
|
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Bullet Continuous Collision Detection and Physics Library
|
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
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|
5
|
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This software is provided 'as-is', without any express or implied warranty.
|
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In no event will the authors be held liable for any damages arising from the use of this software.
|
7
|
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Permission is granted to anyone to use this software for any purpose,
|
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including commercial applications, and to alter it and redistribute it freely,
|
9
|
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subject to the following restrictions:
|
10
|
-
|
11
|
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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.
|
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|
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
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3. This notice may not be removed or altered from any source distribution.
|
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*/
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#ifndef BT_MANIFOLD_CONTACT_POINT_H
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#define BT_MANIFOLD_CONTACT_POINT_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransformUtil.h"
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|
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#ifdef PFX_USE_FREE_VECTORMATH
|
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#include "physics_effects/base_level/solver/pfx_constraint_row.h"
|
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typedef sce::PhysicsEffects::PfxConstraintRow btConstraintRow;
|
25
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#else
|
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|
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// Don't change following order of parameters
|
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ATTRIBUTE_ALIGNED16(struct) btConstraintRow {
|
28
|
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btScalar m_normal[3];
|
29
|
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btScalar m_rhs;
|
30
|
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btScalar m_jacDiagInv;
|
31
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btScalar m_lowerLimit;
|
32
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btScalar m_upperLimit;
|
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btScalar m_accumImpulse;
|
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};
|
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typedef btConstraintRow PfxConstraintRow;
|
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#endif //PFX_USE_FREE_VECTORMATH
|
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|
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|
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|
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/// ManifoldContactPoint collects and maintains persistent contactpoints.
|
41
|
-
/// used to improve stability and performance of rigidbody dynamics response.
|
42
|
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class btManifoldPoint
|
43
|
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{
|
44
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public:
|
45
|
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btManifoldPoint()
|
46
|
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:m_userPersistentData(0),
|
47
|
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m_appliedImpulse(0.f),
|
48
|
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m_lateralFrictionInitialized(false),
|
49
|
-
m_appliedImpulseLateral1(0.f),
|
50
|
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
|
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m_contactMotion2(0.f),
|
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m_contactCFM1(0.f),
|
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m_contactCFM2(0.f),
|
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|
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m_lifeTime(0)
|
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|
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{
|
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}
|
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|
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btManifoldPoint( const btVector3 &pointA, const btVector3 &pointB,
|
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const btVector3 &normal,
|
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btScalar distance ) :
|
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m_localPointA( pointA ),
|
63
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m_localPointB( pointB ),
|
64
|
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m_normalWorldOnB( normal ),
|
65
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m_distance1( distance ),
|
66
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m_combinedFriction(btScalar(0.)),
|
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|
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m_combinedRestitution(btScalar(0.)),
|
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m_userPersistentData(0),
|
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m_appliedImpulse(0.f),
|
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m_lateralFrictionInitialized(false),
|
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|
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m_appliedImpulseLateral1(0.f),
|
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m_appliedImpulseLateral2(0.f),
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m_contactMotion1(0.f),
|
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m_contactMotion2(0.f),
|
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m_contactCFM1(0.f),
|
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m_contactCFM2(0.f),
|
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|
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m_lifeTime(0)
|
78
|
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{
|
79
|
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mConstraintRow[0].m_accumImpulse = 0.f;
|
80
|
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mConstraintRow[1].m_accumImpulse = 0.f;
|
81
|
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mConstraintRow[2].m_accumImpulse = 0.f;
|
82
|
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}
|
83
|
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|
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|
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|
85
|
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|
86
|
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btVector3 m_localPointA;
|
87
|
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btVector3 m_localPointB;
|
88
|
-
btVector3 m_positionWorldOnB;
|
89
|
-
///m_positionWorldOnA is redundant information, see getPositionWorldOnA(), but for clarity
|
90
|
-
btVector3 m_positionWorldOnA;
|
91
|
-
btVector3 m_normalWorldOnB;
|
92
|
-
|
93
|
-
btScalar m_distance1;
|
94
|
-
btScalar m_combinedFriction;
|
95
|
-
btScalar m_combinedRestitution;
|
96
|
-
|
97
|
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//BP mod, store contact triangles.
|
98
|
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int m_partId0;
|
99
|
-
int m_partId1;
|
100
|
-
int m_index0;
|
101
|
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int m_index1;
|
102
|
-
|
103
|
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mutable void* m_userPersistentData;
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btScalar m_appliedImpulse;
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bool m_lateralFrictionInitialized;
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btScalar m_appliedImpulseLateral1;
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btScalar m_appliedImpulseLateral2;
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btScalar m_contactMotion1;
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btScalar m_contactMotion2;
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btScalar m_contactCFM1;
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btScalar m_contactCFM2;
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int m_lifeTime;//lifetime of the contactpoint in frames
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btVector3 m_lateralFrictionDir1;
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btVector3 m_lateralFrictionDir2;
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btConstraintRow mConstraintRow[3];
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btScalar getDistance() const
|
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{
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return m_distance1;
|
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}
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int getLifeTime() const
|
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{
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return m_lifeTime;
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}
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const btVector3& getPositionWorldOnA() const {
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return m_positionWorldOnA;
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// return m_positionWorldOnB + m_normalWorldOnB * m_distance1;
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}
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const btVector3& getPositionWorldOnB() const
|
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{
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return m_positionWorldOnB;
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}
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|
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void setDistance(btScalar dist)
|
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{
|
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m_distance1 = dist;
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}
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///this returns the most recent applied impulse, to satisfy contact constraints by the constraint solver
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btScalar getAppliedImpulse() const
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{
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return m_appliedImpulse;
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}
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};
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#endif //BT_MANIFOLD_CONTACT_POINT_H
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data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
DELETED
@@ -1,40 +0,0 @@
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|
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/*
|
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Bullet Continuous Collision Detection and Physics Library
|
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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|
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This software is provided 'as-is', without any express or implied warranty.
|
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In no event will the authors be held liable for any damages arising from the use of this software.
|
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
|
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|
-
subject to the following restrictions:
|
10
|
-
|
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|
-
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.
|
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|
-
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
13
|
-
3. This notice may not be removed or altered from any source distribution.
|
14
|
-
*/
|
15
|
-
|
16
|
-
#ifndef BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
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|
-
#define BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
18
|
-
|
19
|
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#include "btConvexPenetrationDepthSolver.h"
|
20
|
-
|
21
|
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///MinkowskiPenetrationDepthSolver implements bruteforce penetration depth estimation.
|
22
|
-
///Implementation is based on sampling the depth using support mapping, and using GJK step to get the witness points.
|
23
|
-
class btMinkowskiPenetrationDepthSolver : public btConvexPenetrationDepthSolver
|
24
|
-
{
|
25
|
-
protected:
|
26
|
-
|
27
|
-
static btVector3* getPenetrationDirections();
|
28
|
-
|
29
|
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public:
|
30
|
-
|
31
|
-
virtual bool calcPenDepth( btSimplexSolverInterface& simplexSolver,
|
32
|
-
const btConvexShape* convexA,const btConvexShape* convexB,
|
33
|
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const btTransform& transA,const btTransform& transB,
|
34
|
-
btVector3& v, btVector3& pa, btVector3& pb,
|
35
|
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class btIDebugDraw* debugDraw,btStackAlloc* stackAlloc
|
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|
-
);
|
37
|
-
};
|
38
|
-
|
39
|
-
#endif //BT_MINKOWSKI_PENETRATION_DEPTH_SOLVER_H
|
40
|
-
|
@@ -1,228 +0,0 @@
|
|
1
|
-
/*
|
2
|
-
Bullet Continuous Collision Detection and Physics Library
|
3
|
-
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
4
|
-
|
5
|
-
This software is provided 'as-is', without any express or implied warranty.
|
6
|
-
In no event will the authors be held liable for any damages arising from the use of this software.
|
7
|
-
Permission is granted to anyone to use this software for any purpose,
|
8
|
-
including commercial applications, and to alter it and redistribute it freely,
|
9
|
-
subject to the following restrictions:
|
10
|
-
|
11
|
-
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.
|
12
|
-
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
13
|
-
3. This notice may not be removed or altered from any source distribution.
|
14
|
-
*/
|
15
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|
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|
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#ifndef BT_PERSISTENT_MANIFOLD_H
|
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#define BT_PERSISTENT_MANIFOLD_H
|
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|
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|
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|
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|
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#include "LinearMath/btVector3.h"
|
21
|
-
#include "LinearMath/btTransform.h"
|
22
|
-
#include "btManifoldPoint.h"
|
23
|
-
#include "LinearMath/btAlignedAllocator.h"
|
24
|
-
|
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struct btCollisionResult;
|
26
|
-
|
27
|
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///maximum contact breaking and merging threshold
|
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|
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extern btScalar gContactBreakingThreshold;
|
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|
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typedef bool (*ContactDestroyedCallback)(void* userPersistentData);
|
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|
-
typedef bool (*ContactProcessedCallback)(btManifoldPoint& cp,void* body0,void* body1);
|
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|
-
extern ContactDestroyedCallback gContactDestroyedCallback;
|
33
|
-
extern ContactProcessedCallback gContactProcessedCallback;
|
34
|
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|
35
|
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//the enum starts at 1024 to avoid type conflicts with btTypedConstraint
|
36
|
-
enum btContactManifoldTypes
|
37
|
-
{
|
38
|
-
MIN_CONTACT_MANIFOLD_TYPE = 1024,
|
39
|
-
BT_PERSISTENT_MANIFOLD_TYPE
|
40
|
-
};
|
41
|
-
|
42
|
-
#define MANIFOLD_CACHE_SIZE 4
|
43
|
-
|
44
|
-
///btPersistentManifold is a contact point cache, it stays persistent as long as objects are overlapping in the broadphase.
|
45
|
-
///Those contact points are created by the collision narrow phase.
|
46
|
-
///The cache can be empty, or hold 1,2,3 or 4 points. Some collision algorithms (GJK) might only add one point at a time.
|
47
|
-
///updates/refreshes old contact points, and throw them away if necessary (distance becomes too large)
|
48
|
-
///reduces the cache to 4 points, when more then 4 points are added, using following rules:
|
49
|
-
///the contact point with deepest penetration is always kept, and it tries to maximuze the area covered by the points
|
50
|
-
///note that some pairs of objects might have more then one contact manifold.
|
51
|
-
|
52
|
-
|
53
|
-
ATTRIBUTE_ALIGNED128( class) btPersistentManifold : public btTypedObject
|
54
|
-
//ATTRIBUTE_ALIGNED16( class) btPersistentManifold : public btTypedObject
|
55
|
-
{
|
56
|
-
|
57
|
-
btManifoldPoint m_pointCache[MANIFOLD_CACHE_SIZE];
|
58
|
-
|
59
|
-
/// this two body pointers can point to the physics rigidbody class.
|
60
|
-
/// void* will allow any rigidbody class
|
61
|
-
void* m_body0;
|
62
|
-
void* m_body1;
|
63
|
-
|
64
|
-
int m_cachedPoints;
|
65
|
-
|
66
|
-
btScalar m_contactBreakingThreshold;
|
67
|
-
btScalar m_contactProcessingThreshold;
|
68
|
-
|
69
|
-
|
70
|
-
/// sort cached points so most isolated points come first
|
71
|
-
int sortCachedPoints(const btManifoldPoint& pt);
|
72
|
-
|
73
|
-
int findContactPoint(const btManifoldPoint* unUsed, int numUnused,const btManifoldPoint& pt);
|
74
|
-
|
75
|
-
public:
|
76
|
-
|
77
|
-
BT_DECLARE_ALIGNED_ALLOCATOR();
|
78
|
-
|
79
|
-
int m_companionIdA;
|
80
|
-
int m_companionIdB;
|
81
|
-
|
82
|
-
int m_index1a;
|
83
|
-
|
84
|
-
btPersistentManifold();
|
85
|
-
|
86
|
-
btPersistentManifold(void* body0,void* body1,int , btScalar contactBreakingThreshold,btScalar contactProcessingThreshold)
|
87
|
-
: btTypedObject(BT_PERSISTENT_MANIFOLD_TYPE),
|
88
|
-
m_body0(body0),m_body1(body1),m_cachedPoints(0),
|
89
|
-
m_contactBreakingThreshold(contactBreakingThreshold),
|
90
|
-
m_contactProcessingThreshold(contactProcessingThreshold)
|
91
|
-
{
|
92
|
-
}
|
93
|
-
|
94
|
-
SIMD_FORCE_INLINE void* getBody0() { return m_body0;}
|
95
|
-
SIMD_FORCE_INLINE void* getBody1() { return m_body1;}
|
96
|
-
|
97
|
-
SIMD_FORCE_INLINE const void* getBody0() const { return m_body0;}
|
98
|
-
SIMD_FORCE_INLINE const void* getBody1() const { return m_body1;}
|
99
|
-
|
100
|
-
void setBodies(void* body0,void* body1)
|
101
|
-
{
|
102
|
-
m_body0 = body0;
|
103
|
-
m_body1 = body1;
|
104
|
-
}
|
105
|
-
|
106
|
-
void clearUserCache(btManifoldPoint& pt);
|
107
|
-
|
108
|
-
#ifdef DEBUG_PERSISTENCY
|
109
|
-
void DebugPersistency();
|
110
|
-
#endif //
|
111
|
-
|
112
|
-
SIMD_FORCE_INLINE int getNumContacts() const { return m_cachedPoints;}
|
113
|
-
|
114
|
-
SIMD_FORCE_INLINE const btManifoldPoint& getContactPoint(int index) const
|
115
|
-
{
|
116
|
-
btAssert(index < m_cachedPoints);
|
117
|
-
return m_pointCache[index];
|
118
|
-
}
|
119
|
-
|
120
|
-
SIMD_FORCE_INLINE btManifoldPoint& getContactPoint(int index)
|
121
|
-
{
|
122
|
-
btAssert(index < m_cachedPoints);
|
123
|
-
return m_pointCache[index];
|
124
|
-
}
|
125
|
-
|
126
|
-
///@todo: get this margin from the current physics / collision environment
|
127
|
-
btScalar getContactBreakingThreshold() const;
|
128
|
-
|
129
|
-
btScalar getContactProcessingThreshold() const
|
130
|
-
{
|
131
|
-
return m_contactProcessingThreshold;
|
132
|
-
}
|
133
|
-
|
134
|
-
int getCacheEntry(const btManifoldPoint& newPoint) const;
|
135
|
-
|
136
|
-
int addManifoldPoint( const btManifoldPoint& newPoint);
|
137
|
-
|
138
|
-
void removeContactPoint (int index)
|
139
|
-
{
|
140
|
-
clearUserCache(m_pointCache[index]);
|
141
|
-
|
142
|
-
int lastUsedIndex = getNumContacts() - 1;
|
143
|
-
// m_pointCache[index] = m_pointCache[lastUsedIndex];
|
144
|
-
if(index != lastUsedIndex)
|
145
|
-
{
|
146
|
-
m_pointCache[index] = m_pointCache[lastUsedIndex];
|
147
|
-
//get rid of duplicated userPersistentData pointer
|
148
|
-
m_pointCache[lastUsedIndex].m_userPersistentData = 0;
|
149
|
-
m_pointCache[lastUsedIndex].mConstraintRow[0].m_accumImpulse = 0.f;
|
150
|
-
m_pointCache[lastUsedIndex].mConstraintRow[1].m_accumImpulse = 0.f;
|
151
|
-
m_pointCache[lastUsedIndex].mConstraintRow[2].m_accumImpulse = 0.f;
|
152
|
-
|
153
|
-
m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
|
154
|
-
m_pointCache[lastUsedIndex].m_lateralFrictionInitialized = false;
|
155
|
-
m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
|
156
|
-
m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
|
157
|
-
m_pointCache[lastUsedIndex].m_lifeTime = 0;
|
158
|
-
}
|
159
|
-
|
160
|
-
btAssert(m_pointCache[lastUsedIndex].m_userPersistentData==0);
|
161
|
-
m_cachedPoints--;
|
162
|
-
}
|
163
|
-
void replaceContactPoint(const btManifoldPoint& newPoint,int insertIndex)
|
164
|
-
{
|
165
|
-
btAssert(validContactDistance(newPoint));
|
166
|
-
|
167
|
-
#define MAINTAIN_PERSISTENCY 1
|
168
|
-
#ifdef MAINTAIN_PERSISTENCY
|
169
|
-
int lifeTime = m_pointCache[insertIndex].getLifeTime();
|
170
|
-
btScalar appliedImpulse = m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse;
|
171
|
-
btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse;
|
172
|
-
btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse;
|
173
|
-
// bool isLateralFrictionInitialized = m_pointCache[insertIndex].m_lateralFrictionInitialized;
|
174
|
-
|
175
|
-
|
176
|
-
|
177
|
-
btAssert(lifeTime>=0);
|
178
|
-
void* cache = m_pointCache[insertIndex].m_userPersistentData;
|
179
|
-
|
180
|
-
m_pointCache[insertIndex] = newPoint;
|
181
|
-
|
182
|
-
m_pointCache[insertIndex].m_userPersistentData = cache;
|
183
|
-
m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
|
184
|
-
m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
|
185
|
-
m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
|
186
|
-
|
187
|
-
m_pointCache[insertIndex].mConstraintRow[0].m_accumImpulse = appliedImpulse;
|
188
|
-
m_pointCache[insertIndex].mConstraintRow[1].m_accumImpulse = appliedLateralImpulse1;
|
189
|
-
m_pointCache[insertIndex].mConstraintRow[2].m_accumImpulse = appliedLateralImpulse2;
|
190
|
-
|
191
|
-
|
192
|
-
m_pointCache[insertIndex].m_lifeTime = lifeTime;
|
193
|
-
#else
|
194
|
-
clearUserCache(m_pointCache[insertIndex]);
|
195
|
-
m_pointCache[insertIndex] = newPoint;
|
196
|
-
|
197
|
-
#endif
|
198
|
-
}
|
199
|
-
|
200
|
-
|
201
|
-
bool validContactDistance(const btManifoldPoint& pt) const
|
202
|
-
{
|
203
|
-
return pt.m_distance1 <= getContactBreakingThreshold();
|
204
|
-
}
|
205
|
-
/// calculated new worldspace coordinates and depth, and reject points that exceed the collision margin
|
206
|
-
void refreshContactPoints( const btTransform& trA,const btTransform& trB);
|
207
|
-
|
208
|
-
|
209
|
-
SIMD_FORCE_INLINE void clearManifold()
|
210
|
-
{
|
211
|
-
int i;
|
212
|
-
for (i=0;i<m_cachedPoints;i++)
|
213
|
-
{
|
214
|
-
clearUserCache(m_pointCache[i]);
|
215
|
-
}
|
216
|
-
m_cachedPoints = 0;
|
217
|
-
}
|
218
|
-
|
219
|
-
|
220
|
-
|
221
|
-
}
|
222
|
-
;
|
223
|
-
|
224
|
-
|
225
|
-
|
226
|
-
|
227
|
-
|
228
|
-
#endif //BT_PERSISTENT_MANIFOLD_H
|