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) 2003-2006 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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*/
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#ifndef BT_POINT2POINTCONSTRAINT_H
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#define BT_POINT2POINTCONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData
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#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData"
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#else
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#define btPoint2PointConstraintData btPoint2PointConstraintFloatData
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#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData"
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#endif //BT_USE_DOUBLE_PRECISION
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struct btConstraintSetting
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{
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btConstraintSetting() :
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m_tau(btScalar(0.3)),
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m_damping(btScalar(1.)),
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m_impulseClamp(btScalar(0.))
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{
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}
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btScalar m_tau;
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btScalar m_damping;
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btScalar m_impulseClamp;
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};
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enum btPoint2PointFlags
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{
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BT_P2P_FLAGS_ERP = 1,
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BT_P2P_FLAGS_CFM = 2
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};
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/// point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocket' location in local space
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ATTRIBUTE_ALIGNED16(class) btPoint2PointConstraint : public btTypedConstraint
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{
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#ifdef IN_PARALLELL_SOLVER
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public:
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#endif
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btJacobianEntry m_jac[3]; //3 orthogonal linear constraints
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btVector3 m_pivotInA;
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btVector3 m_pivotInB;
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int m_flags;
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btScalar m_erp;
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btScalar m_cfm;
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public:
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///for backwards compatibility during the transition to 'getInfo/getInfo2'
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bool m_useSolveConstraintObsolete;
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btConstraintSetting m_setting;
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btPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
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btPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
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virtual void buildJacobian();
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virtual void getInfo1 (btConstraintInfo1* info);
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void getInfo1NonVirtual (btConstraintInfo1* info);
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virtual void getInfo2 (btConstraintInfo2* info);
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void getInfo2NonVirtual (btConstraintInfo2* info, const btTransform& body0_trans, const btTransform& body1_trans);
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void updateRHS(btScalar timeStep);
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void setPivotA(const btVector3& pivotA)
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{
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m_pivotInA = pivotA;
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}
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void setPivotB(const btVector3& pivotB)
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{
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m_pivotInB = pivotB;
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}
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const btVector3& getPivotInA() const
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{
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return m_pivotInA;
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}
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const btVector3& getPivotInB() const
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{
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return m_pivotInB;
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}
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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virtual void setParam(int num, btScalar value, int axis = -1);
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///return the local value of parameter
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virtual btScalar getParam(int num, int axis = -1) const;
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btPoint2PointConstraintFloatData
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{
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btTypedConstraintData m_typeConstraintData;
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btVector3FloatData m_pivotInA;
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btVector3FloatData m_pivotInB;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btPoint2PointConstraintDoubleData
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{
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btTypedConstraintData m_typeConstraintData;
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btVector3DoubleData m_pivotInA;
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btVector3DoubleData m_pivotInB;
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};
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SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const
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{
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return sizeof(btPoint2PointConstraintData);
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}
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
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btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
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m_pivotInA.serialize(p2pData->m_pivotInA);
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m_pivotInB.serialize(p2pData->m_pivotInB);
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return btPoint2PointConstraintDataName;
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}
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#endif //BT_POINT2POINTCONSTRAINT_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_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#define BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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#include "btConstraintSolver.h"
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class btIDebugDraw;
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#include "btContactConstraint.h"
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#include "btSolverBody.h"
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#include "btSolverConstraint.h"
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#include "btTypedConstraint.h"
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#include "BulletCollision/NarrowPhaseCollision/btManifoldPoint.h"
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///The btSequentialImpulseConstraintSolver is a fast SIMD implementation of the Projected Gauss Seidel (iterative LCP) method.
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class btSequentialImpulseConstraintSolver : public btConstraintSolver
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{
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protected:
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btConstraintArray m_tmpSolverContactConstraintPool;
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btConstraintArray m_tmpSolverNonContactConstraintPool;
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btConstraintArray m_tmpSolverContactFrictionConstraintPool;
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btAlignedObjectArray<int> m_orderTmpConstraintPool;
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btAlignedObjectArray<int> m_orderNonContactConstraintPool;
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btAlignedObjectArray<int> m_orderFrictionConstraintPool;
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btAlignedObjectArray<btTypedConstraint::btConstraintInfo1> m_tmpConstraintSizesPool;
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int m_maxOverrideNumSolverIterations;
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void setupFrictionConstraint( btSolverConstraint& solverConstraint, const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyIdB,
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btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,
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btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation,
|
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btScalar desiredVelocity=0., btScalar cfmSlip=0.);
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|
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btSolverConstraint& addFrictionConstraint(const btVector3& normalAxis,btRigidBody* solverBodyA,btRigidBody* solverBodyB,int frictionIndex,btManifoldPoint& cp,const btVector3& rel_pos1,const btVector3& rel_pos2,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, btScalar desiredVelocity=0., btScalar cfmSlip=0.);
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void setupContactConstraint(btSolverConstraint& solverConstraint, btCollisionObject* colObj0, btCollisionObject* colObj1, btManifoldPoint& cp,
|
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const btContactSolverInfo& infoGlobal, btVector3& vel, btScalar& rel_vel, btScalar& relaxation,
|
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btVector3& rel_pos1, btVector3& rel_pos2);
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void setFrictionConstraintImpulse( btSolverConstraint& solverConstraint, btRigidBody* rb0, btRigidBody* rb1,
|
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btManifoldPoint& cp, const btContactSolverInfo& infoGlobal);
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///m_btSeed2 is used for re-arranging the constraint rows. improves convergence/quality of friction
|
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unsigned long m_btSeed2;
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// void initSolverBody(btSolverBody* solverBody, btCollisionObject* collisionObject);
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btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
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void convertContact(btPersistentManifold* manifold,const btContactSolverInfo& infoGlobal);
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void resolveSplitPenetrationSIMD(
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btRigidBody& body1,
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btRigidBody& body2,
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const btSolverConstraint& contactConstraint);
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|
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void resolveSplitPenetrationImpulseCacheFriendly(
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btRigidBody& body1,
|
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btRigidBody& body2,
|
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const btSolverConstraint& contactConstraint);
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//internal method
|
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int getOrInitSolverBody(btCollisionObject& body);
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void resolveSingleConstraintRowGeneric(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
|
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void resolveSingleConstraintRowGenericSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
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void resolveSingleConstraintRowLowerLimit(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
|
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|
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void resolveSingleConstraintRowLowerLimitSIMD(btRigidBody& body1,btRigidBody& body2,const btSolverConstraint& contactConstraint);
|
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|
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protected:
|
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static btRigidBody& getFixedBody();
|
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|
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virtual void solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
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virtual btScalar solveGroupCacheFriendlyFinish(btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
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btScalar solveSingleIteration(int iteration, btCollisionObject** bodies ,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
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|
92
|
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virtual btScalar solveGroupCacheFriendlySetup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
|
93
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virtual btScalar solveGroupCacheFriendlyIterations(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& infoGlobal,btIDebugDraw* debugDrawer,btStackAlloc* stackAlloc);
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|
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|
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public:
|
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|
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|
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btSequentialImpulseConstraintSolver();
|
100
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virtual ~btSequentialImpulseConstraintSolver();
|
101
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|
102
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virtual btScalar solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer, btStackAlloc* stackAlloc,btDispatcher* dispatcher);
|
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|
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|
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|
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///clear internal cached data and reset random seed
|
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virtual void reset();
|
108
|
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|
109
|
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unsigned long btRand2();
|
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|
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|
111
|
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int btRandInt2 (int n);
|
112
|
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|
113
|
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void setRandSeed(unsigned long seed)
|
114
|
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{
|
115
|
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m_btSeed2 = seed;
|
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|
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}
|
117
|
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unsigned long getRandSeed() const
|
118
|
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{
|
119
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return m_btSeed2;
|
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|
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}
|
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|
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|
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|
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};
|
123
|
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|
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|
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#ifndef BT_PREFER_SIMD
|
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typedef btSequentialImpulseConstraintSolver btSequentialImpulseConstraintSolverPrefered;
|
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#endif
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|
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|
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#endif //BT_SEQUENTIAL_IMPULSE_CONSTRAINT_SOLVER_H
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|
@@ -1,333 +0,0 @@
|
|
1
|
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/*
|
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
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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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/*
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Added by Roman Ponomarev (rponom@gmail.com)
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April 04, 2008
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TODO:
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- add clamping od accumulated impulse to improve stability
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- add conversion for ODE constraint solver
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*/
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#ifndef BT_SLIDER_CONSTRAINT_H
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#define BT_SLIDER_CONSTRAINT_H
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#include "LinearMath/btVector3.h"
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#include "btJacobianEntry.h"
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#include "btTypedConstraint.h"
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class btRigidBody;
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#define SLIDER_CONSTRAINT_DEF_SOFTNESS (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_DAMPING (btScalar(1.0))
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#define SLIDER_CONSTRAINT_DEF_RESTITUTION (btScalar(0.7))
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#define SLIDER_CONSTRAINT_DEF_CFM (btScalar(0.f))
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enum btSliderFlags
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{
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BT_SLIDER_FLAGS_CFM_DIRLIN = (1 << 0),
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BT_SLIDER_FLAGS_ERP_DIRLIN = (1 << 1),
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BT_SLIDER_FLAGS_CFM_DIRANG = (1 << 2),
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BT_SLIDER_FLAGS_ERP_DIRANG = (1 << 3),
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BT_SLIDER_FLAGS_CFM_ORTLIN = (1 << 4),
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BT_SLIDER_FLAGS_ERP_ORTLIN = (1 << 5),
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BT_SLIDER_FLAGS_CFM_ORTANG = (1 << 6),
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BT_SLIDER_FLAGS_ERP_ORTANG = (1 << 7),
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BT_SLIDER_FLAGS_CFM_LIMLIN = (1 << 8),
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BT_SLIDER_FLAGS_ERP_LIMLIN = (1 << 9),
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BT_SLIDER_FLAGS_CFM_LIMANG = (1 << 10),
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BT_SLIDER_FLAGS_ERP_LIMANG = (1 << 11)
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};
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class btSliderConstraint : public btTypedConstraint
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{
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protected:
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///for backwards compatibility during the transition to 'getInfo/getInfo2'
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bool m_useSolveConstraintObsolete;
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bool m_useOffsetForConstraintFrame;
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btTransform m_frameInA;
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btTransform m_frameInB;
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// use frameA fo define limits, if true
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bool m_useLinearReferenceFrameA;
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// linear limits
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btScalar m_lowerLinLimit;
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btScalar m_upperLinLimit;
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// angular limits
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btScalar m_lowerAngLimit;
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btScalar m_upperAngLimit;
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// softness, restitution and damping for different cases
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// DirLin - moving inside linear limits
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// LimLin - hitting linear limit
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// DirAng - moving inside angular limits
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// LimAng - hitting angular limit
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// OrthoLin, OrthoAng - against constraint axis
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btScalar m_softnessDirLin;
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btScalar m_restitutionDirLin;
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btScalar m_dampingDirLin;
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btScalar m_cfmDirLin;
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btScalar m_softnessDirAng;
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btScalar m_restitutionDirAng;
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btScalar m_dampingDirAng;
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btScalar m_cfmDirAng;
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btScalar m_softnessLimLin;
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btScalar m_restitutionLimLin;
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btScalar m_dampingLimLin;
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btScalar m_cfmLimLin;
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btScalar m_softnessLimAng;
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btScalar m_restitutionLimAng;
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btScalar m_dampingLimAng;
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btScalar m_cfmLimAng;
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btScalar m_softnessOrthoLin;
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btScalar m_restitutionOrthoLin;
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btScalar m_dampingOrthoLin;
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btScalar m_cfmOrthoLin;
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btScalar m_softnessOrthoAng;
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btScalar m_restitutionOrthoAng;
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btScalar m_dampingOrthoAng;
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btScalar m_cfmOrthoAng;
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// for interlal use
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bool m_solveLinLim;
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bool m_solveAngLim;
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int m_flags;
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btJacobianEntry m_jacLin[3];
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btScalar m_jacLinDiagABInv[3];
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btJacobianEntry m_jacAng[3];
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btScalar m_timeStep;
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btTransform m_calculatedTransformA;
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btTransform m_calculatedTransformB;
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btVector3 m_sliderAxis;
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btVector3 m_realPivotAInW;
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btVector3 m_realPivotBInW;
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btVector3 m_projPivotInW;
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btVector3 m_delta;
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btVector3 m_depth;
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btVector3 m_relPosA;
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btVector3 m_relPosB;
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btScalar m_linPos;
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btScalar m_angPos;
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btScalar m_angDepth;
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btScalar m_kAngle;
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bool m_poweredLinMotor;
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btScalar m_targetLinMotorVelocity;
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btScalar m_maxLinMotorForce;
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btScalar m_accumulatedLinMotorImpulse;
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bool m_poweredAngMotor;
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btScalar m_targetAngMotorVelocity;
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btScalar m_maxAngMotorForce;
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btScalar m_accumulatedAngMotorImpulse;
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//------------------------
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void initParams();
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public:
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// constructors
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btSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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btSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
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// overrides
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virtual void getInfo1 (btConstraintInfo1* info);
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void getInfo1NonVirtual(btConstraintInfo1* info);
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virtual void getInfo2 (btConstraintInfo2* info);
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void getInfo2NonVirtual(btConstraintInfo2* info, const btTransform& transA, const btTransform& transB,const btVector3& linVelA,const btVector3& linVelB, btScalar rbAinvMass,btScalar rbBinvMass);
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// access
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const btRigidBody& getRigidBodyA() const { return m_rbA; }
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const btRigidBody& getRigidBodyB() const { return m_rbB; }
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const btTransform & getCalculatedTransformA() const { return m_calculatedTransformA; }
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const btTransform & getCalculatedTransformB() const { return m_calculatedTransformB; }
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const btTransform & getFrameOffsetA() const { return m_frameInA; }
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const btTransform & getFrameOffsetB() const { return m_frameInB; }
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btTransform & getFrameOffsetA() { return m_frameInA; }
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btTransform & getFrameOffsetB() { return m_frameInB; }
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btScalar getLowerLinLimit() { return m_lowerLinLimit; }
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void setLowerLinLimit(btScalar lowerLimit) { m_lowerLinLimit = lowerLimit; }
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btScalar getUpperLinLimit() { return m_upperLinLimit; }
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void setUpperLinLimit(btScalar upperLimit) { m_upperLinLimit = upperLimit; }
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btScalar getLowerAngLimit() { return m_lowerAngLimit; }
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void setLowerAngLimit(btScalar lowerLimit) { m_lowerAngLimit = btNormalizeAngle(lowerLimit); }
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btScalar getUpperAngLimit() { return m_upperAngLimit; }
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void setUpperAngLimit(btScalar upperLimit) { m_upperAngLimit = btNormalizeAngle(upperLimit); }
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bool getUseLinearReferenceFrameA() { return m_useLinearReferenceFrameA; }
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btScalar getSoftnessDirLin() { return m_softnessDirLin; }
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btScalar getRestitutionDirLin() { return m_restitutionDirLin; }
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btScalar getDampingDirLin() { return m_dampingDirLin ; }
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btScalar getSoftnessDirAng() { return m_softnessDirAng; }
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btScalar getRestitutionDirAng() { return m_restitutionDirAng; }
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btScalar getDampingDirAng() { return m_dampingDirAng; }
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btScalar getSoftnessLimLin() { return m_softnessLimLin; }
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btScalar getRestitutionLimLin() { return m_restitutionLimLin; }
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btScalar getDampingLimLin() { return m_dampingLimLin; }
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btScalar getSoftnessLimAng() { return m_softnessLimAng; }
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btScalar getRestitutionLimAng() { return m_restitutionLimAng; }
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btScalar getDampingLimAng() { return m_dampingLimAng; }
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btScalar getSoftnessOrthoLin() { return m_softnessOrthoLin; }
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btScalar getRestitutionOrthoLin() { return m_restitutionOrthoLin; }
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btScalar getDampingOrthoLin() { return m_dampingOrthoLin; }
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btScalar getSoftnessOrthoAng() { return m_softnessOrthoAng; }
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btScalar getRestitutionOrthoAng() { return m_restitutionOrthoAng; }
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btScalar getDampingOrthoAng() { return m_dampingOrthoAng; }
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void setSoftnessDirLin(btScalar softnessDirLin) { m_softnessDirLin = softnessDirLin; }
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void setRestitutionDirLin(btScalar restitutionDirLin) { m_restitutionDirLin = restitutionDirLin; }
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void setDampingDirLin(btScalar dampingDirLin) { m_dampingDirLin = dampingDirLin; }
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void setSoftnessDirAng(btScalar softnessDirAng) { m_softnessDirAng = softnessDirAng; }
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void setRestitutionDirAng(btScalar restitutionDirAng) { m_restitutionDirAng = restitutionDirAng; }
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void setDampingDirAng(btScalar dampingDirAng) { m_dampingDirAng = dampingDirAng; }
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void setSoftnessLimLin(btScalar softnessLimLin) { m_softnessLimLin = softnessLimLin; }
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void setRestitutionLimLin(btScalar restitutionLimLin) { m_restitutionLimLin = restitutionLimLin; }
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void setDampingLimLin(btScalar dampingLimLin) { m_dampingLimLin = dampingLimLin; }
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void setSoftnessLimAng(btScalar softnessLimAng) { m_softnessLimAng = softnessLimAng; }
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void setRestitutionLimAng(btScalar restitutionLimAng) { m_restitutionLimAng = restitutionLimAng; }
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void setDampingLimAng(btScalar dampingLimAng) { m_dampingLimAng = dampingLimAng; }
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void setSoftnessOrthoLin(btScalar softnessOrthoLin) { m_softnessOrthoLin = softnessOrthoLin; }
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void setRestitutionOrthoLin(btScalar restitutionOrthoLin) { m_restitutionOrthoLin = restitutionOrthoLin; }
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void setDampingOrthoLin(btScalar dampingOrthoLin) { m_dampingOrthoLin = dampingOrthoLin; }
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void setSoftnessOrthoAng(btScalar softnessOrthoAng) { m_softnessOrthoAng = softnessOrthoAng; }
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void setRestitutionOrthoAng(btScalar restitutionOrthoAng) { m_restitutionOrthoAng = restitutionOrthoAng; }
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void setDampingOrthoAng(btScalar dampingOrthoAng) { m_dampingOrthoAng = dampingOrthoAng; }
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void setPoweredLinMotor(bool onOff) { m_poweredLinMotor = onOff; }
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bool getPoweredLinMotor() { return m_poweredLinMotor; }
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void setTargetLinMotorVelocity(btScalar targetLinMotorVelocity) { m_targetLinMotorVelocity = targetLinMotorVelocity; }
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btScalar getTargetLinMotorVelocity() { return m_targetLinMotorVelocity; }
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void setMaxLinMotorForce(btScalar maxLinMotorForce) { m_maxLinMotorForce = maxLinMotorForce; }
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btScalar getMaxLinMotorForce() { return m_maxLinMotorForce; }
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void setPoweredAngMotor(bool onOff) { m_poweredAngMotor = onOff; }
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bool getPoweredAngMotor() { return m_poweredAngMotor; }
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void setTargetAngMotorVelocity(btScalar targetAngMotorVelocity) { m_targetAngMotorVelocity = targetAngMotorVelocity; }
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btScalar getTargetAngMotorVelocity() { return m_targetAngMotorVelocity; }
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void setMaxAngMotorForce(btScalar maxAngMotorForce) { m_maxAngMotorForce = maxAngMotorForce; }
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btScalar getMaxAngMotorForce() { return m_maxAngMotorForce; }
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btScalar getLinearPos() const { return m_linPos; }
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btScalar getAngularPos() const { return m_angPos; }
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// access for ODE solver
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bool getSolveLinLimit() { return m_solveLinLim; }
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btScalar getLinDepth() { return m_depth[0]; }
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bool getSolveAngLimit() { return m_solveAngLim; }
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btScalar getAngDepth() { return m_angDepth; }
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// shared code used by ODE solver
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void calculateTransforms(const btTransform& transA,const btTransform& transB);
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void testLinLimits();
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void testAngLimits();
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// access for PE Solver
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btVector3 getAncorInA();
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btVector3 getAncorInB();
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// access for UseFrameOffset
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bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
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void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
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void setFrames(const btTransform& frameA, const btTransform& frameB)
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{
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m_frameInA=frameA;
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m_frameInB=frameB;
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calculateTransforms(m_rbA.getCenterOfMassTransform(),m_rbB.getCenterOfMassTransform());
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buildJacobian();
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}
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///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
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///If no axis is provided, it uses the default axis for this constraint.
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virtual void setParam(int num, btScalar value, int axis = -1);
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///return the local value of parameter
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virtual btScalar getParam(int num, int axis = -1) const;
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virtual int calculateSerializeBufferSize() const;
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
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};
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284
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btSliderConstraintData
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{
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287
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btTypedConstraintData m_typeConstraintData;
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btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
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btTransformFloatData m_rbBFrame;
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290
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291
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float m_linearUpperLimit;
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float m_linearLowerLimit;
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293
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294
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float m_angularUpperLimit;
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295
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float m_angularLowerLimit;
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296
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297
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int m_useLinearReferenceFrameA;
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298
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int m_useOffsetForConstraintFrame;
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299
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300
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};
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SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const
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304
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{
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305
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return sizeof(btSliderConstraintData);
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306
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}
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307
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308
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///fills the dataBuffer and returns the struct name (and 0 on failure)
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SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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311
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btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
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313
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btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
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314
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315
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m_frameInA.serializeFloat(sliderData->m_rbAFrame);
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316
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m_frameInB.serializeFloat(sliderData->m_rbBFrame);
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317
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318
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sliderData->m_linearUpperLimit = float(m_upperLinLimit);
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319
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sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
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320
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321
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sliderData->m_angularUpperLimit = float(m_upperAngLimit);
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322
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sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
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323
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324
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sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
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325
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sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
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326
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327
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return "btSliderConstraintData";
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}
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#endif //BT_SLIDER_CONSTRAINT_H
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