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

data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h

@@ -1,107 +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_SOLVE_2LINEAR_CONSTRAINT_H
-#define BT_SOLVE_2LINEAR_CONSTRAINT_H
-
-#include "LinearMath/btMatrix3x3.h"
-#include "LinearMath/btVector3.h"
-
-
-class btRigidBody;
-
-
-
-/// constraint class used for lateral tyre friction.
-class	btSolve2LinearConstraint
-{
-	btScalar	m_tau;
-	btScalar	m_damping;
-
-public:
-
-	btSolve2LinearConstraint(btScalar tau,btScalar damping)
-	{
-		m_tau = tau;
-		m_damping = damping;
-	}
-	//
-	// solve unilateral constraint (equality, direct method)
-	//
-	void resolveUnilateralPairConstraint(		
-														   btRigidBody* body0,
-		btRigidBody* body1,
-
-		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-
-	//
-	// solving 2x2 lcp problem (inequality, direct solution )
-	//
-	void resolveBilateralPairConstraint(
-			btRigidBody* body0,
-						btRigidBody* body1,
-		const btMatrix3x3& world2A,
-						const btMatrix3x3& world2B,
-						
-						const btVector3& invInertiaADiag,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btVector3& invInertiaBDiag,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-/*
-	void resolveAngularConstraint(	const btMatrix3x3& invInertiaAWS,
-						const btScalar invMassA,
-						const btVector3& linvelA,const btVector3& angvelA,
-						const btVector3& rel_posA1,
-						const btMatrix3x3& invInertiaBWS,
-						const btScalar invMassB,
-						const btVector3& linvelB,const btVector3& angvelB,
-						const btVector3& rel_posA2,
-
-					  btScalar depthA, const btVector3& normalA, 
-					  const btVector3& rel_posB1,const btVector3& rel_posB2,
-					  btScalar depthB, const btVector3& normalB, 
-					  btScalar& imp0,btScalar& imp1);
-
-*/
-
-};
-
-#endif //BT_SOLVE_2LINEAR_CONSTRAINT_H

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

@@ -1,191 +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_SOLVER_BODY_H
-#define BT_SOLVER_BODY_H
-
-class	btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "LinearMath/btAlignedAllocator.h"
-#include "LinearMath/btTransformUtil.h"
-
-///Until we get other contributions, only use SIMD on Windows, when using Visual Studio 2008 or later, and not double precision
-#ifdef BT_USE_SSE
-#define USE_SIMD 1
-#endif //
-
-
-#ifdef USE_SIMD
-
-struct	btSimdScalar
-{
-	SIMD_FORCE_INLINE	btSimdScalar()
-	{
-
-	}
-
-	SIMD_FORCE_INLINE	btSimdScalar(float	fl)
-	:m_vec128 (_mm_set1_ps(fl))
-	{
-	}
-
-	SIMD_FORCE_INLINE	btSimdScalar(__m128 v128)
-		:m_vec128(v128)
-	{
-	}
-	union
-	{
-		__m128		m_vec128;
-		float		m_floats[4];
-		int			m_ints[4];
-		btScalar	m_unusedPadding;
-	};
-	SIMD_FORCE_INLINE	__m128	get128()
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE	const __m128	get128() const
-	{
-		return m_vec128;
-	}
-
-	SIMD_FORCE_INLINE	void	set128(__m128 v128)
-	{
-		m_vec128 = v128;
-	}
-
-	SIMD_FORCE_INLINE	operator       __m128()       
-	{ 
-		return m_vec128; 
-	}
-	SIMD_FORCE_INLINE	operator const __m128() const 
-	{ 
-		return m_vec128; 
-	}
-	
-	SIMD_FORCE_INLINE	operator float() const 
-	{ 
-		return m_floats[0]; 
-	}
-
-};
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator*(const btSimdScalar& v1, const btSimdScalar& v2) 
-{
-	return btSimdScalar(_mm_mul_ps(v1.get128(),v2.get128()));
-}
-
-///@brief Return the elementwise product of two btSimdScalar
-SIMD_FORCE_INLINE btSimdScalar 
-operator+(const btSimdScalar& v1, const btSimdScalar& v2) 
-{
-	return btSimdScalar(_mm_add_ps(v1.get128(),v2.get128()));
-}
-
-
-#else
-#define btSimdScalar btScalar
-#endif
-
-///The btSolverBody is an internal datastructure for the constraint solver. Only necessary data is packed to increase cache coherence/performance.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverBodyObsolete
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-	btVector3		m_deltaLinearVelocity;
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_invMass;
-	btRigidBody*	m_originalBody;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-
-	
-	SIMD_FORCE_INLINE void	getVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
-	{
-		if (m_originalBody)
-			velocity = m_originalBody->getLinearVelocity()+m_deltaLinearVelocity + (m_originalBody->getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
-		else
-			velocity.setValue(0,0,0);
-	}
-
-	SIMD_FORCE_INLINE void	getAngularVelocity(btVector3& angVel) const
-	{
-		if (m_originalBody)
-			angVel = m_originalBody->getAngularVelocity()+m_deltaAngularVelocity;
-		else
-			angVel.setValue(0,0,0);
-	}
-
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void applyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
-	{
-		//if (m_invMass)
-		{
-			m_deltaLinearVelocity += linearComponent*impulseMagnitude;
-			m_deltaAngularVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-
-	SIMD_FORCE_INLINE void internalApplyPushImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
-	{
-		if (m_originalBody)
-		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-	
-	void	writebackVelocity()
-	{
-		if (m_originalBody)
-		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
-			
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-
-	void	writebackVelocity(btScalar timeStep)
-	{
-        (void) timeStep;
-		if (m_originalBody)
-		{
-			m_originalBody->setLinearVelocity(m_originalBody->getLinearVelocity()+ m_deltaLinearVelocity);
-			m_originalBody->setAngularVelocity(m_originalBody->getAngularVelocity()+m_deltaAngularVelocity);
-			
-			//correct the position/orientation based on push/turn recovery
-			btTransform newTransform;
-			btTransformUtil::integrateTransform(m_originalBody->getWorldTransform(),m_pushVelocity,m_turnVelocity,timeStep,newTransform);
-			m_originalBody->setWorldTransform(newTransform);
-			
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-	
-
-
-};
-
-#endif //BT_SOLVER_BODY_H
-
-

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

@@ -1,98 +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_SOLVER_CONSTRAINT_H
-#define BT_SOLVER_CONSTRAINT_H
-
-class	btRigidBody;
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btMatrix3x3.h"
-#include "btJacobianEntry.h"
-
-//#define NO_FRICTION_TANGENTIALS 1
-#include "btSolverBody.h"
-
-
-///1D constraint along a normal axis between bodyA and bodyB. It can be combined to solve contact and friction constraints.
-ATTRIBUTE_ALIGNED64 (struct)	btSolverConstraint
-{
-	BT_DECLARE_ALIGNED_ALLOCATOR();
-
-	btVector3		m_relpos1CrossNormal;
-	btVector3		m_contactNormal;
-
-	btVector3		m_relpos2CrossNormal;
-	//btVector3		m_contactNormal2;//usually m_contactNormal2 == -m_contactNormal
-
-	btVector3		m_angularComponentA;
-	btVector3		m_angularComponentB;
-	
-	mutable btSimdScalar	m_appliedPushImpulse;
-	mutable btSimdScalar	m_appliedImpulse;
-	
-	
-	btScalar	m_friction;
-	btScalar	m_jacDiagABInv;
-	union
-	{
-		int	m_numConsecutiveRowsPerKernel;
-		btScalar	m_unusedPadding0;
-	};
-
-	int	m_overrideNumSolverIterations;
-
-	union
-	{
-		int			m_frictionIndex;
-		btScalar	m_unusedPadding1;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyA;
-		int				m_companionIdA;
-	};
-	union
-	{
-		btRigidBody*	m_solverBodyB;
-		int				m_companionIdB;
-	};
-	
-	union
-	{
-		void*		m_originalContactPoint;
-		btScalar	m_unusedPadding4;
-	};
-
-	btScalar		m_rhs;
-	btScalar		m_cfm;
-	btScalar		m_lowerLimit;
-	btScalar		m_upperLimit;
-
-	btScalar		m_rhsPenetration;
-
-	enum		btSolverConstraintType
-	{
-		BT_SOLVER_CONTACT_1D = 0,
-		BT_SOLVER_FRICTION_1D
-	};
-};
-
-typedef btAlignedObjectArray<btSolverConstraint>	btConstraintArray;
-
-
-#endif //BT_SOLVER_CONSTRAINT_H
-
-
-