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

data/deps/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h

@@ -1,163 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2008 Erwin Coumans  http://bulletphysics.com
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-
-#ifndef BT_KINEMATIC_CHARACTER_CONTROLLER_H
-#define BT_KINEMATIC_CHARACTER_CONTROLLER_H
-
-#include "LinearMath/btVector3.h"
-
-#include "btCharacterControllerInterface.h"
-
-#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
-
-
-class btCollisionShape;
-class btConvexShape;
-class btRigidBody;
-class btCollisionWorld;
-class btCollisionDispatcher;
-class btPairCachingGhostObject;
-
-///btKinematicCharacterController is an object that supports a sliding motion in a world.
-///It uses a ghost object and convex sweep test to test for upcoming collisions. This is combined with discrete collision detection to recover from penetrations.
-///Interaction between btKinematicCharacterController and dynamic rigid bodies needs to be explicity implemented by the user.
-class btKinematicCharacterController : public btCharacterControllerInterface
-{
-protected:
-
-	btScalar m_halfHeight;
-	
-	btPairCachingGhostObject* m_ghostObject;
-	btConvexShape*	m_convexShape;//is also in m_ghostObject, but it needs to be convex, so we store it here to avoid upcast
-	
-	btScalar m_verticalVelocity;
-	btScalar m_verticalOffset;
-	btScalar m_fallSpeed;
-	btScalar m_jumpSpeed;
-	btScalar m_maxJumpHeight;
-	btScalar m_maxSlopeRadians; // Slope angle that is set (used for returning the exact value)
-	btScalar m_maxSlopeCosine;  // Cosine equivalent of m_maxSlopeRadians (calculated once when set, for optimization)
-	btScalar m_gravity;
-
-	btScalar m_turnAngle;
-	
-	btScalar m_stepHeight;
-
-	btScalar	m_addedMargin;//@todo: remove this and fix the code
-
-	///this is the desired walk direction, set by the user
-	btVector3	m_walkDirection;
-	btVector3	m_normalizedDirection;
-
-	//some internal variables
-	btVector3 m_currentPosition;
-	btScalar  m_currentStepOffset;
-	btVector3 m_targetPosition;
-
-	///keep track of the contact manifolds
-	btManifoldArray	m_manifoldArray;
-
-	bool m_touchingContact;
-	btVector3 m_touchingNormal;
-
-	bool  m_wasOnGround;
-	bool  m_wasJumping;
-	bool	m_useGhostObjectSweepTest;
-	bool	m_useWalkDirection;
-	btScalar	m_velocityTimeInterval;
-	int m_upAxis;
-
-	static btVector3* getUpAxisDirections();
-
-	btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
-	btVector3 parallelComponent (const btVector3& direction, const btVector3& normal);
-	btVector3 perpindicularComponent (const btVector3& direction, const btVector3& normal);
-
-	bool recoverFromPenetration ( btCollisionWorld* collisionWorld);
-	void stepUp (btCollisionWorld* collisionWorld);
-	void updateTargetPositionBasedOnCollision (const btVector3& hit_normal, btScalar tangentMag = btScalar(0.0), btScalar normalMag = btScalar(1.0));
-	void stepForwardAndStrafe (btCollisionWorld* collisionWorld, const btVector3& walkMove);
-	void stepDown (btCollisionWorld* collisionWorld, btScalar dt);
-public:
-	btKinematicCharacterController (btPairCachingGhostObject* ghostObject,btConvexShape* convexShape,btScalar stepHeight, int upAxis = 1);
-	~btKinematicCharacterController ();
-	
-
-	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld,btScalar deltaTime)
-	{
-		preStep ( collisionWorld);
-		playerStep (collisionWorld, deltaTime);
-	}
-	
-	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-
-	void setUpAxis (int axis)
-	{
-		if (axis < 0)
-			axis = 0;
-		if (axis > 2)
-			axis = 2;
-		m_upAxis = axis;
-	}
-
-	/// This should probably be called setPositionIncrementPerSimulatorStep.
-	/// This is neither a direction nor a velocity, but the amount to
-	///	increment the position each simulation iteration, regardless
-	///	of dt.
-	/// This call will reset any velocity set by setVelocityForTimeInterval().
-	virtual void	setWalkDirection(const btVector3& walkDirection);
-
-	/// Caller provides a velocity with which the character should move for
-	///	the given time period.  After the time period, velocity is reset
-	///	to zero.
-	/// This call will reset any walk direction set by setWalkDirection().
-	/// Negative time intervals will result in no motion.
-	virtual void setVelocityForTimeInterval(const btVector3& velocity,
-				btScalar timeInterval);
-
-	void reset ();
-	void warp (const btVector3& origin);
-
-	void preStep (  btCollisionWorld* collisionWorld);
-	void playerStep ( btCollisionWorld* collisionWorld, btScalar dt);
-
-	void setFallSpeed (btScalar fallSpeed);
-	void setJumpSpeed (btScalar jumpSpeed);
-	void setMaxJumpHeight (btScalar maxJumpHeight);
-	bool canJump () const;
-
-	void jump ();
-
-	void setGravity(btScalar gravity);
-	btScalar getGravity() const;
-
-	/// The max slope determines the maximum angle that the controller can walk up.
-	/// The slope angle is measured in radians.
-	void setMaxSlope(btScalar slopeRadians);
-	btScalar getMaxSlope() const;
-
-	btPairCachingGhostObject* getGhostObject();
-	void	setUseGhostSweepTest(bool useGhostObjectSweepTest)
-	{
-		m_useGhostObjectSweepTest = useGhostObjectSweepTest;
-	}
-
-	bool onGround () const;
-};
-
-#endif // BT_KINEMATIC_CHARACTER_CONTROLLER_H

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -1,346 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-btConeTwistConstraint is Copyright (c) 2007 Starbreeze Studios
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-
-Written by: Marcus Hennix
-*/
-
-
-
-/*
-Overview:
-
-btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc).
-It is a fixed translation, 3 degree-of-freedom (DOF) rotational "joint".
-It divides the 3 rotational DOFs into swing (movement within a cone) and twist.
-Swing is divided into swing1 and swing2 which can have different limits, giving an elliptical shape.
-(Note: the cone's base isn't flat, so this ellipse is "embedded" on the surface of a sphere.)
-
-In the contraint's frame of reference:
-twist is along the x-axis,
-and swing 1 and 2 are along the z and y axes respectively.
-*/
-
-
-
-#ifndef BT_CONETWISTCONSTRAINT_H
-#define BT_CONETWISTCONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-
-class btRigidBody;
-
-enum btConeTwistFlags
-{
-	BT_CONETWIST_FLAGS_LIN_CFM = 1,
-	BT_CONETWIST_FLAGS_LIN_ERP = 2,
-	BT_CONETWIST_FLAGS_ANG_CFM = 4
-};
-
-///btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
-class btConeTwistConstraint : public btTypedConstraint
-{
-#ifdef IN_PARALLELL_SOLVER
-public:
-#endif
-	btJacobianEntry	m_jac[3]; //3 orthogonal linear constraints
-
-	btTransform m_rbAFrame; 
-	btTransform m_rbBFrame;
-
-	btScalar	m_limitSoftness;
-	btScalar	m_biasFactor;
-	btScalar	m_relaxationFactor;
-
-	btScalar	m_damping;
-
-	btScalar	m_swingSpan1;
-	btScalar	m_swingSpan2;
-	btScalar	m_twistSpan;
-
-	btScalar	m_fixThresh;
-
-	btVector3   m_swingAxis;
-	btVector3	m_twistAxis;
-
-	btScalar	m_kSwing;
-	btScalar	m_kTwist;
-
-	btScalar	m_twistLimitSign;
-	btScalar	m_swingCorrection;
-	btScalar	m_twistCorrection;
-
-	btScalar	m_twistAngle;
-
-	btScalar	m_accSwingLimitImpulse;
-	btScalar	m_accTwistLimitImpulse;
-
-	bool		m_angularOnly;
-	bool		m_solveTwistLimit;
-	bool		m_solveSwingLimit;
-
-	bool	m_useSolveConstraintObsolete;
-
-	// not yet used...
-	btScalar	m_swingLimitRatio;
-	btScalar	m_twistLimitRatio;
-	btVector3   m_twistAxisA;
-
-	// motor
-	bool		 m_bMotorEnabled;
-	bool		 m_bNormalizedMotorStrength;
-	btQuaternion m_qTarget;
-	btScalar	 m_maxMotorImpulse;
-	btVector3	 m_accMotorImpulse;
-	
-	// parameters
-	int			m_flags;
-	btScalar	m_linCFM;
-	btScalar	m_linERP;
-	btScalar	m_angCFM;
-	
-protected:
-
-	void init();
-
-	void computeConeLimitInfo(const btQuaternion& qCone, // in
-		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
-
-	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
-		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
-
-	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
-
-
-public:
-
-	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
-	
-	btConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
-
-	virtual void	buildJacobian();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	void	getInfo1NonVirtual(btConstraintInfo1* info);
-	
-	virtual void getInfo2 (btConstraintInfo2* info);
-	
-	void	getInfo2NonVirtual(btConstraintInfo2* info,const btTransform& transA,const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
-
-	virtual	void	solveConstraintObsolete(btRigidBody& bodyA,btRigidBody& bodyB,btScalar	timeStep);
-
-	void	updateRHS(btScalar	timeStep);
-
-
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	void	setAngularOnly(bool angularOnly)
-	{
-		m_angularOnly = angularOnly;
-	}
-
-	void	setLimit(int limitIndex,btScalar limitValue)
-	{
-		switch (limitIndex)
-		{
-		case 3:
-			{
-				m_twistSpan = limitValue;
-				break;
-			}
-		case 4:
-			{
-				m_swingSpan2 = limitValue;
-				break;
-			}
-		case 5:
-			{
-				m_swingSpan1 = limitValue;
-				break;
-			}
-		default:
-			{
-			}
-		};
-	}
-
-	// setLimit(), a few notes:
-	// _softness:
-	//		0->1, recommend ~0.8->1.
-	//		describes % of limits where movement is free.
-	//		beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached.
-	// _biasFactor:
-	//		0->1?, recommend 0.3 +/-0.3 or so.
-	//		strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
-	// __relaxationFactor:
-	//		0->1, recommend to stay near 1.
-	//		the lower the value, the less the constraint will fight velocities which violate the angular limits.
-	void	setLimit(btScalar _swingSpan1,btScalar _swingSpan2,btScalar _twistSpan, btScalar _softness = 1.f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f)
-	{
-		m_swingSpan1 = _swingSpan1;
-		m_swingSpan2 = _swingSpan2;
-		m_twistSpan  = _twistSpan;
-
-		m_limitSoftness =  _softness;
-		m_biasFactor = _biasFactor;
-		m_relaxationFactor = _relaxationFactor;
-	}
-
-	const btTransform& getAFrame() { return m_rbAFrame; };	
-	const btTransform& getBFrame() { return m_rbBFrame; };
-
-	inline int getSolveTwistLimit()
-	{
-		return m_solveTwistLimit;
-	}
-
-	inline int getSolveSwingLimit()
-	{
-		return m_solveTwistLimit;
-	}
-
-	inline btScalar getTwistLimitSign()
-	{
-		return m_twistLimitSign;
-	}
-
-	void calcAngleInfo();
-	void calcAngleInfo2(const btTransform& transA, const btTransform& transB,const btMatrix3x3& invInertiaWorldA,const btMatrix3x3& invInertiaWorldB);
-
-	inline btScalar getSwingSpan1()
-	{
-		return m_swingSpan1;
-	}
-	inline btScalar getSwingSpan2()
-	{
-		return m_swingSpan2;
-	}
-	inline btScalar getTwistSpan()
-	{
-		return m_twistSpan;
-	}
-	inline btScalar getTwistAngle()
-	{
-		return m_twistAngle;
-	}
-	bool isPastSwingLimit() { return m_solveSwingLimit; }
-
-	void setDamping(btScalar damping) { m_damping = damping; }
-
-	void enableMotor(bool b) { m_bMotorEnabled = b; }
-	void setMaxMotorImpulse(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = false; }
-	void setMaxMotorImpulseNormalized(btScalar maxMotorImpulse) { m_maxMotorImpulse = maxMotorImpulse; m_bNormalizedMotorStrength = true; }
-
-	btScalar getFixThresh() { return m_fixThresh; }
-	void setFixThresh(btScalar fixThresh) { m_fixThresh = fixThresh; }
-
-	// setMotorTarget:
-	// q: the desired rotation of bodyA wrt bodyB.
-	// note: if q violates the joint limits, the internal target is clamped to avoid conflicting impulses (very bad for stability)
-	// note: don't forget to enableMotor()
-	void setMotorTarget(const btQuaternion &q);
-
-	// same as above, but q is the desired rotation of frameA wrt frameB in constraint space
-	void setMotorTargetInConstraintSpace(const btQuaternion &q);
-
-	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
-
-	///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5). 
-	///If no axis is provided, it uses the default axis for this constraint.
-	virtual	void setParam(int num, btScalar value, int axis = -1);
-
-	virtual void setFrames(const btTransform& frameA, const btTransform& frameB);
-
-	const btTransform& getFrameOffsetA() const
-	{
-		return m_rbAFrame;
-	}
-
-	const btTransform& getFrameOffsetB() const
-	{
-		return m_rbBFrame;
-	}
-
-
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const;
-
-	virtual	int	calculateSerializeBufferSize() const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
-
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btConeTwistConstraintData
-{
-	btTypedConstraintData	m_typeConstraintData;
-	btTransformFloatData m_rbAFrame;
-	btTransformFloatData m_rbBFrame;
-
-	//limits
-	float	m_swingSpan1;
-	float	m_swingSpan2;
-	float	m_twistSpan;
-	float	m_limitSoftness;
-	float	m_biasFactor;
-	float	m_relaxationFactor;
-
-	float	m_damping;
-		
-	char m_pad[4];
-
-};
-	
-
-
-SIMD_FORCE_INLINE int	btConeTwistConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btConeTwistConstraintData);
-
-}
-
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
-{
-	btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
-	btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
-
-	m_rbAFrame.serializeFloat(cone->m_rbAFrame);
-	m_rbBFrame.serializeFloat(cone->m_rbBFrame);
-	
-	cone->m_swingSpan1 = float(m_swingSpan1);
-	cone->m_swingSpan2 = float(m_swingSpan2);
-	cone->m_twistSpan = float(m_twistSpan);
-	cone->m_limitSoftness = float(m_limitSoftness);
-	cone->m_biasFactor = float(m_biasFactor);
-	cone->m_relaxationFactor = float(m_relaxationFactor);
-	cone->m_damping = float(m_damping);
-
-	return "btConeTwistConstraintData";
-}
-
-
-#endif //BT_CONETWISTCONSTRAINT_H

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h

@@ -1,52 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONSTRAINT_SOLVER_H
-#define BT_CONSTRAINT_SOLVER_H
-
-#include "LinearMath/btScalar.h"
-
-class btPersistentManifold;
-class btRigidBody;
-class btCollisionObject;
-class btTypedConstraint;
-struct btContactSolverInfo;
-struct btBroadphaseProxy;
-class btIDebugDraw;
-class btStackAlloc;
-class	btDispatcher;
-/// btConstraintSolver provides solver interface
-class btConstraintSolver
-{
-
-public:
-
-	virtual ~btConstraintSolver() {}
-	
-	virtual void prepareSolve (int /* numBodies */, int /* numManifolds */) {;}
-
-	///solve a group of constraints
-	virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints, const btContactSolverInfo& info,class btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher) = 0;
-
-	virtual void allSolved (const btContactSolverInfo& /* info */,class btIDebugDraw* /* debugDrawer */, btStackAlloc* /* stackAlloc */) {;}
-
-	///clear internal cached data and reset random seed
-	virtual	void	reset() = 0;
-};
-
-
-
-
-#endif //BT_CONSTRAINT_SOLVER_H

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h

@@ -1,71 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
-
-This software is provided 'as-is', without any express or implied warranty.
-In no event will the authors be held liable for any damages arising from the use of this software.
-Permission is granted to anyone to use this software for any purpose, 
-including commercial applications, and to alter it and redistribute it freely, 
-subject to the following restrictions:
-
-1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
-2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
-3. This notice may not be removed or altered from any source distribution.
-*/
-
-#ifndef BT_CONTACT_CONSTRAINT_H
-#define BT_CONTACT_CONSTRAINT_H
-
-#include "LinearMath/btVector3.h"
-#include "btJacobianEntry.h"
-#include "btTypedConstraint.h"
-#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
-
-///btContactConstraint can be automatically created to solve contact constraints using the unified btTypedConstraint interface
-ATTRIBUTE_ALIGNED16(class) btContactConstraint : public btTypedConstraint
-{
-protected:
-
-	btPersistentManifold m_contactManifold;
-
-public:
-
-
-	btContactConstraint(btPersistentManifold* contactManifold,btRigidBody& rbA,btRigidBody& rbB);
-
-	void	setContactManifold(btPersistentManifold* contactManifold);
-
-	btPersistentManifold* getContactManifold()
-	{
-		return &m_contactManifold;
-	}
-
-	const btPersistentManifold* getContactManifold() const
-	{
-		return &m_contactManifold;
-	}
-
-	virtual ~btContactConstraint();
-
-	virtual void getInfo1 (btConstraintInfo1* info);
-
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	///obsolete methods
-	virtual void	buildJacobian();
-
-
-};
-
-///very basic collision resolution without friction
-btScalar resolveSingleCollision(btRigidBody* body1, class btCollisionObject* colObj2, const btVector3& contactPositionWorld,const btVector3& contactNormalOnB, const struct btContactSolverInfo& solverInfo,btScalar distance);
-
-
-///resolveSingleBilateral is an obsolete methods used for vehicle friction between two dynamic objects
-void resolveSingleBilateral(btRigidBody& body1, const btVector3& pos1,
-                      btRigidBody& body2, const btVector3& pos2,
-                      btScalar distance, const btVector3& normal,btScalar& impulse ,btScalar timeStep);
-
-
-
-#endif //BT_CONTACT_CONSTRAINT_H