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

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

@@ -1,452 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2010 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_TYPED_CONSTRAINT_H
-#define BT_TYPED_CONSTRAINT_H
-
-class btRigidBody;
-#include "LinearMath/btScalar.h"
-#include "btSolverConstraint.h"
-
-class btSerializer;
-
-//Don't change any of the existing enum values, so add enum types at the end for serialization compatibility
-enum btTypedConstraintType
-{
-	POINT2POINT_CONSTRAINT_TYPE=3,
-	HINGE_CONSTRAINT_TYPE,
-	CONETWIST_CONSTRAINT_TYPE,
-	D6_CONSTRAINT_TYPE,
-	SLIDER_CONSTRAINT_TYPE,
-	CONTACT_CONSTRAINT_TYPE,
-	D6_SPRING_CONSTRAINT_TYPE,
-	MAX_CONSTRAINT_TYPE
-};
-
-
-enum btConstraintParams
-{
-	BT_CONSTRAINT_ERP=1,
-	BT_CONSTRAINT_STOP_ERP,
-	BT_CONSTRAINT_CFM,
-	BT_CONSTRAINT_STOP_CFM
-};
-
-#if 1
-	#define btAssertConstrParams(_par) btAssert(_par) 
-#else
-	#define btAssertConstrParams(_par)
-#endif
-
-
-///TypedConstraint is the baseclass for Bullet constraints and vehicles
-class btTypedConstraint : public btTypedObject
-{
-	int	m_userConstraintType;
-
-	union
-	{
-		int	m_userConstraintId;
-		void* m_userConstraintPtr;
-	};
-
-	btScalar	m_breakingImpulseThreshold;
-	bool		m_isEnabled;
-	bool		m_needsFeedback;
-	int			m_overrideNumSolverIterations;
-
-
-	btTypedConstraint&	operator=(btTypedConstraint&	other)
-	{
-		btAssert(0);
-		(void) other;
-		return *this;
-	}
-
-protected:
-	btRigidBody&	m_rbA;
-	btRigidBody&	m_rbB;
-	btScalar	m_appliedImpulse;
-	btScalar	m_dbgDrawSize;
-
-	///internal method used by the constraint solver, don't use them directly
-	btScalar getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact);
-	
-
-public:
-
-	virtual ~btTypedConstraint() {};
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA);
-	btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB);
-
-	struct btConstraintInfo1 {
-		int m_numConstraintRows,nub;
-	};
-
-	static btRigidBody& getFixedBody();
-
-	struct btConstraintInfo2 {
-		// integrator parameters: frames per second (1/stepsize), default error
-		// reduction parameter (0..1).
-		btScalar fps,erp;
-
-		// for the first and second body, pointers to two (linear and angular)
-		// n*3 jacobian sub matrices, stored by rows. these matrices will have
-		// been initialized to 0 on entry. if the second body is zero then the
-		// J2xx pointers may be 0.
-		btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
-
-		// elements to jump from one row to the next in J's
-		int rowskip;
-
-		// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
-		// "constraint force mixing" vector. c is set to zero on entry, cfm is
-		// set to a constant value (typically very small or zero) value on entry.
-		btScalar *m_constraintError,*cfm;
-
-		// lo and hi limits for variables (set to -/+ infinity on entry).
-		btScalar *m_lowerLimit,*m_upperLimit;
-
-		// findex vector for variables. see the LCP solver interface for a
-		// description of what this does. this is set to -1 on entry.
-		// note that the returned indexes are relative to the first index of
-		// the constraint.
-		int *findex;
-		// number of solver iterations
-		int m_numIterations;
-
-		//damping of the velocity
-		btScalar	m_damping;
-	};
-
-	int	getOverrideNumSolverIterations() const
-	{
-		return m_overrideNumSolverIterations;
-	}
-
-	///override the number of constraint solver iterations used to solve this constraint
-	///-1 will use the default number of iterations, as specified in SolverInfo.m_numIterations
-	void setOverrideNumSolverIterations(int overideNumIterations)
-	{
-		m_overrideNumSolverIterations = overideNumIterations;
-	}
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void	buildJacobian() {};
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual	void	setupSolverConstraint(btConstraintArray& ca, int solverBodyA,int solverBodyB, btScalar timeStep)
-	{
-        (void)ca;
-        (void)solverBodyA;
-        (void)solverBodyB;
-        (void)timeStep;
-	}
-	
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo1 (btConstraintInfo1* info)=0;
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info)=0;
-
-	///internal method used by the constraint solver, don't use them directly
-	void	internalSetAppliedImpulse(btScalar appliedImpulse)
-	{
-		m_appliedImpulse = appliedImpulse;
-	}
-	///internal method used by the constraint solver, don't use them directly
-	btScalar	internalGetAppliedImpulse()
-	{
-		return m_appliedImpulse;
-	}
-
-
-	btScalar	getBreakingImpulseThreshold() const
-	{
-		return 	m_breakingImpulseThreshold;
-	}
-
-	void	setBreakingImpulseThreshold(btScalar threshold)
-	{
-		m_breakingImpulseThreshold = threshold;
-	}
-
-	bool	isEnabled() const
-	{
-		return m_isEnabled;
-	}
-
-	void	setEnabled(bool enabled)
-	{
-		m_isEnabled=enabled;
-	}
-
-
-	///internal method used by the constraint solver, don't use them directly
-	virtual	void	solveConstraintObsolete(btRigidBody& /*bodyA*/,btRigidBody& /*bodyB*/,btScalar	/*timeStep*/) {};
-
-	
-	const btRigidBody& getRigidBodyA() const
-	{
-		return m_rbA;
-	}
-	const btRigidBody& getRigidBodyB() const
-	{
-		return m_rbB;
-	}
-
-	btRigidBody& getRigidBodyA() 
-	{
-		return m_rbA;
-	}
-	btRigidBody& getRigidBodyB()
-	{
-		return m_rbB;
-	}
-
-	int getUserConstraintType() const
-	{
-		return m_userConstraintType ;
-	}
-
-	void	setUserConstraintType(int userConstraintType)
-	{
-		m_userConstraintType = userConstraintType;
-	};
-
-	void	setUserConstraintId(int uid)
-	{
-		m_userConstraintId = uid;
-	}
-
-	int getUserConstraintId() const
-	{
-		return m_userConstraintId;
-	}
-
-	void	setUserConstraintPtr(void* ptr)
-	{
-		m_userConstraintPtr = ptr;
-	}
-
-	void*	getUserConstraintPtr()
-	{
-		return m_userConstraintPtr;
-	}
-
-	int getUid() const
-	{
-		return m_userConstraintId;   
-	} 
-
-	bool	needsFeedback() const
-	{
-		return m_needsFeedback;
-	}
-
-	///enableFeedback will allow to read the applied linear and angular impulse
-	///use getAppliedImpulse, getAppliedLinearImpulse and getAppliedAngularImpulse to read feedback information
-	void	enableFeedback(bool needsFeedback)
-	{
-		m_needsFeedback = needsFeedback;
-	}
-
-	///getAppliedImpulse is an estimated total applied impulse. 
-	///This feedback could be used to determine breaking constraints or playing sounds.
-	btScalar	getAppliedImpulse() const
-	{
-		btAssert(m_needsFeedback);
-		return m_appliedImpulse;
-	}
-
-	btTypedConstraintType getConstraintType () const
-	{
-		return btTypedConstraintType(m_objectType);
-	}
-	
-	void setDbgDrawSize(btScalar dbgDrawSize)
-	{
-		m_dbgDrawSize = dbgDrawSize;
-	}
-	btScalar getDbgDrawSize()
-	{
-		return m_dbgDrawSize;
-	}
-
-	///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) = 0;
-
-	///return the local value of parameter
-	virtual	btScalar getParam(int num, int axis = -1) const = 0;
-	
-	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;
-
-};
-
-// returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits 
-// all arguments should be normalized angles (i.e. in range [-SIMD_PI, SIMD_PI])
-SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScalar angleLowerLimitInRadians, btScalar angleUpperLimitInRadians)
-{
-	if(angleLowerLimitInRadians >= angleUpperLimitInRadians)
-	{
-		return angleInRadians;
-	}
-	else if(angleInRadians < angleLowerLimitInRadians)
-	{
-		btScalar diffLo = btFabs(btNormalizeAngle(angleLowerLimitInRadians - angleInRadians));
-		btScalar diffHi = btFabs(btNormalizeAngle(angleUpperLimitInRadians - angleInRadians));
-		return (diffLo < diffHi) ? angleInRadians : (angleInRadians + SIMD_2_PI);
-	}
-	else if(angleInRadians > angleUpperLimitInRadians)
-	{
-		btScalar diffHi = btFabs(btNormalizeAngle(angleInRadians - angleUpperLimitInRadians));
-		btScalar diffLo = btFabs(btNormalizeAngle(angleInRadians - angleLowerLimitInRadians));
-		return (diffLo < diffHi) ? (angleInRadians - SIMD_2_PI) : angleInRadians;
-	}
-	else
-	{
-		return angleInRadians;
-	}
-}
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btTypedConstraintData
-{
-	btRigidBodyData		*m_rbA;
-	btRigidBodyData		*m_rbB;
-	char	*m_name;
-
-	int	m_objectType;
-	int	m_userConstraintType;
-	int	m_userConstraintId;
-	int	m_needsFeedback;
-
-	float	m_appliedImpulse;
-	float	m_dbgDrawSize;
-
-	int	m_disableCollisionsBetweenLinkedBodies;
-	int	m_overrideNumSolverIterations;
-
-	float	m_breakingImpulseThreshold;
-	int		m_isEnabled;
-	
-};
-
-SIMD_FORCE_INLINE	int	btTypedConstraint::calculateSerializeBufferSize() const
-{
-	return sizeof(btTypedConstraintData);
-}
-
-
-
-class btAngularLimit
-{
-private:
-	btScalar 
-		m_center,
-		m_halfRange,
-		m_softness,
-		m_biasFactor,
-		m_relaxationFactor,
-		m_correction,
-		m_sign;
-
-	bool
-		m_solveLimit;
-
-public:
-	/// Default constructor initializes limit as inactive, allowing free constraint movement
-	btAngularLimit()
-		:m_center(0.0f),
-		m_halfRange(-1.0f),
-		m_softness(0.9f),
-		m_biasFactor(0.3f),
-		m_relaxationFactor(1.0f),
-		m_correction(0.0f),
-		m_sign(0.0f),
-		m_solveLimit(false)
-	{}
-
-	/// Sets all limit's parameters.
-	/// When low > high limit becomes inactive.
-	/// When high - low > 2PI limit is ineffective too becouse no angle can exceed the limit
-	void set(btScalar low, btScalar high, btScalar _softness = 0.9f, btScalar _biasFactor = 0.3f, btScalar _relaxationFactor = 1.0f);
-
-	/// Checks conastaint angle against limit. If limit is active and the angle violates the limit
-	/// correction is calculated.
-	void test(const btScalar angle);
-
-	/// Returns limit's softness
-	inline btScalar getSoftness() const
-	{
-		return m_softness;
-	}
-
-	/// Returns limit's bias factor
-	inline btScalar getBiasFactor() const
-	{
-		return m_biasFactor;
-	}
-
-	/// Returns limit's relaxation factor
-	inline btScalar getRelaxationFactor() const
-	{
-		return m_relaxationFactor;
-	}
-
-	/// Returns correction value evaluated when test() was invoked 
-	inline btScalar getCorrection() const
-	{
-		return m_correction;
-	}
-
-	/// Returns sign value evaluated when test() was invoked 
-	inline btScalar getSign() const
-	{
-		return m_sign;
-	}
-
-	/// Gives half of the distance between min and max limit angle
-	inline btScalar getHalfRange() const
-	{
-		return m_halfRange;
-	}
-
-	/// Returns true when the last test() invocation recognized limit violation
-	inline bool isLimit() const
-	{
-		return m_solveLimit;
-	}
-
-	/// Checks given angle against limit. If limit is active and angle doesn't fit it, the angle
-	/// returned is modified so it equals to the limit closest to given angle.
-	void fit(btScalar& angle) const;
-
-	/// Returns correction value multiplied by sign value
-	btScalar getError() const;
-
-	btScalar getLow() const;
-
-	btScalar getHigh() const;
-
-};
-
-
-
-#endif //BT_TYPED_CONSTRAINT_H

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

@@ -1,62 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2007 Sony Computer Entertainment Inc. 
-
-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_UNIVERSAL_CONSTRAINT_H
-#define BT_UNIVERSAL_CONSTRAINT_H
-
-
-
-#include "LinearMath/btVector3.h"
-#include "btTypedConstraint.h"
-#include "btGeneric6DofConstraint.h"
-
-
-
-/// Constraint similar to ODE Universal Joint
-/// has 2 rotatioonal degrees of freedom, similar to Euler rotations around Z (axis 1)
-/// and Y (axis 2)
-/// Description from ODE manual : 
-/// "Given axis 1 on body 1, and axis 2 on body 2 that is perpendicular to axis 1, it keeps them perpendicular. 
-/// In other words, rotation of the two bodies about the direction perpendicular to the two axes will be equal."
-
-class btUniversalConstraint : public btGeneric6DofConstraint
-{
-protected:
-	btVector3	m_anchor;
-	btVector3	m_axis1;
-	btVector3	m_axis2;
-public:
-	// constructor
-	// anchor, axis1 and axis2 are in world coordinate system
-	// axis1 must be orthogonal to axis2
-    btUniversalConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& anchor, const btVector3& axis1, const btVector3& axis2);
-	// access
-	const btVector3& getAnchor() { return m_calculatedTransformA.getOrigin(); }
-	const btVector3& getAnchor2() { return m_calculatedTransformB.getOrigin(); }
-	const btVector3& getAxis1() { return m_axis1; }
-	const btVector3& getAxis2() { return m_axis2; }
-	btScalar getAngle1() { return getAngle(2); }
-	btScalar getAngle2() { return getAngle(1); }
-	// limits
-	void setUpperLimit(btScalar ang1max, btScalar ang2max) { setAngularUpperLimit(btVector3(0.f, ang1max, ang2max)); }
-	void setLowerLimit(btScalar ang1min, btScalar ang2min) { setAngularLowerLimit(btVector3(0.f, ang1min, ang2min)); }
-
-	void setAxis( const btVector3& axis1, const btVector3& axis2);
-};
-
-
-
-#endif // BT_UNIVERSAL_CONSTRAINT_H
-

data/deps/include/bullet/BulletDynamics/Dynamics/btActionInterface.h

@@ -1,46 +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_ACTION_INTERFACE_H
-#define _BT_ACTION_INTERFACE_H
-
-class btIDebugDraw;
-class btCollisionWorld;
-
-#include "LinearMath/btScalar.h"
-#include "btRigidBody.h"
-
-///Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWorld
-class btActionInterface
-{
-protected:
-
-	static btRigidBody& getFixedBody();
-	
-	
-public:
-
-	virtual ~btActionInterface()
-	{
-	}
-
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar deltaTimeStep)=0;
-
-	virtual void debugDraw(btIDebugDraw* debugDrawer) = 0;
-
-};
-
-#endif //_BT_ACTION_INTERFACE_H
-