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

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

@@ -1,691 +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_RIGIDBODY_H
-#define BT_RIGIDBODY_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-#include "LinearMath/btTransform.h"
-#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
-#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
-
-class btCollisionShape;
-class btMotionState;
-class btTypedConstraint;
-
-
-extern btScalar gDeactivationTime;
-extern bool gDisableDeactivation;
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btRigidBodyData	btRigidBodyDoubleData
-#define btRigidBodyDataName	"btRigidBodyDoubleData"
-#else
-#define btRigidBodyData	btRigidBodyFloatData
-#define btRigidBodyDataName	"btRigidBodyFloatData"
-#endif //BT_USE_DOUBLE_PRECISION
-
-
-enum	btRigidBodyFlags
-{
-	BT_DISABLE_WORLD_GRAVITY = 1
-};
-
-
-///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
-///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
-///There are 3 types of rigid bodies: 
-///- A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
-///- B) Fixed objects with zero mass. They are not moving (basically collision objects)
-///- C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform.
-///Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time.
-///Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)
-class btRigidBody  : public btCollisionObject
-{
-
-	btMatrix3x3	m_invInertiaTensorWorld;
-	btVector3		m_linearVelocity;
-	btVector3		m_angularVelocity;
-	btScalar		m_inverseMass;
-	btVector3		m_linearFactor;
-
-	btVector3		m_gravity;	
-	btVector3		m_gravity_acceleration;
-	btVector3		m_invInertiaLocal;
-	btVector3		m_totalForce;
-	btVector3		m_totalTorque;
-	
-	btScalar		m_linearDamping;
-	btScalar		m_angularDamping;
-
-	bool			m_additionalDamping;
-	btScalar		m_additionalDampingFactor;
-	btScalar		m_additionalLinearDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingFactor;
-
-
-	btScalar		m_linearSleepingThreshold;
-	btScalar		m_angularSleepingThreshold;
-
-	//m_optionalMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	m_optionalMotionState;
-
-	//keep track of typed constraints referencing this rigid body
-	btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
-
-	int				m_rigidbodyFlags;
-	
-	int				m_debugBodyId;
-	
-
-protected:
-
-	ATTRIBUTE_ALIGNED64(btVector3		m_deltaLinearVelocity);
-	btVector3		m_deltaAngularVelocity;
-	btVector3		m_angularFactor;
-	btVector3		m_invMass;
-	btVector3		m_pushVelocity;
-	btVector3		m_turnVelocity;
-
-
-public:
-
-
-	///The btRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body.
-	///For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument)
-	///You can use the motion state to synchronize the world transform between physics and graphics objects. 
-	///And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state,
-	///m_startWorldTransform is only used when you don't provide a motion state.
-	struct	btRigidBodyConstructionInfo
-	{
-		btScalar			m_mass;
-
-		///When a motionState is provided, the rigid body will initialize its world transform from the motion state
-		///In this case, m_startWorldTransform is ignored.
-		btMotionState*		m_motionState;
-		btTransform	m_startWorldTransform;
-
-		btCollisionShape*	m_collisionShape;
-		btVector3			m_localInertia;
-		btScalar			m_linearDamping;
-		btScalar			m_angularDamping;
-
-		///best simulation results when friction is non-zero
-		btScalar			m_friction;
-		///best simulation results using zero restitution.
-		btScalar			m_restitution;
-
-		btScalar			m_linearSleepingThreshold;
-		btScalar			m_angularSleepingThreshold;
-
-		//Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
-		//Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
-		bool				m_additionalDamping;
-		btScalar			m_additionalDampingFactor;
-		btScalar			m_additionalLinearDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingThresholdSqr;
-		btScalar			m_additionalAngularDampingFactor;
-
-		btRigidBodyConstructionInfo(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0)):
-		m_mass(mass),
-			m_motionState(motionState),
-			m_collisionShape(collisionShape),
-			m_localInertia(localInertia),
-			m_linearDamping(btScalar(0.)),
-			m_angularDamping(btScalar(0.)),
-			m_friction(btScalar(0.5)),
-			m_restitution(btScalar(0.)),
-			m_linearSleepingThreshold(btScalar(0.8)),
-			m_angularSleepingThreshold(btScalar(1.f)),
-			m_additionalDamping(false),
-			m_additionalDampingFactor(btScalar(0.005)),
-			m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
-			m_additionalAngularDampingFactor(btScalar(0.01))
-		{
-			m_startWorldTransform.setIdentity();
-		}
-	};
-
-	///btRigidBody constructor using construction info
-	btRigidBody(	const btRigidBodyConstructionInfo& constructionInfo);
-
-	///btRigidBody constructor for backwards compatibility. 
-	///To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)
-	btRigidBody(	btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia=btVector3(0,0,0));
-
-
-	virtual ~btRigidBody()
-        { 
-                //No constraints should point to this rigidbody
-		//Remove constraints from the dynamics world before you delete the related rigidbodies. 
-                btAssert(m_constraintRefs.size()==0); 
-        }
-
-protected:
-
-	///setupRigidBody is only used internally by the constructor
-	void	setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
-
-public:
-
-	void			proceedToTransform(const btTransform& newTrans); 
-	
-	///to keep collision detection and dynamics separate we don't store a rigidbody pointer
-	///but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
-	static const btRigidBody*	upcast(const btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
-			return (const btRigidBody*)colObj;
-		return 0;
-	}
-	static btRigidBody*	upcast(btCollisionObject* colObj)
-	{
-		if (colObj->getInternalType()&btCollisionObject::CO_RIGID_BODY)
-			return (btRigidBody*)colObj;
-		return 0;
-	}
-	
-	/// continuous collision detection needs prediction
-	void			predictIntegratedTransform(btScalar step, btTransform& predictedTransform) ;
-	
-	void			saveKinematicState(btScalar step);
-	
-	void			applyGravity();
-	
-	void			setGravity(const btVector3& acceleration);  
-
-	const btVector3&	getGravity() const
-	{
-		return m_gravity_acceleration;
-	}
-
-	void			setDamping(btScalar lin_damping, btScalar ang_damping);
-
-	btScalar getLinearDamping() const
-	{
-		return m_linearDamping;
-	}
-
-	btScalar getAngularDamping() const
-	{
-		return m_angularDamping;
-	}
-
-	btScalar getLinearSleepingThreshold() const
-	{
-		return m_linearSleepingThreshold;
-	}
-
-	btScalar getAngularSleepingThreshold() const
-	{
-		return m_angularSleepingThreshold;
-	}
-
-	void			applyDamping(btScalar timeStep);
-
-	SIMD_FORCE_INLINE const btCollisionShape*	getCollisionShape() const {
-		return m_collisionShape;
-	}
-
-	SIMD_FORCE_INLINE btCollisionShape*	getCollisionShape() {
-			return m_collisionShape;
-	}
-	
-	void			setMassProps(btScalar mass, const btVector3& inertia);
-	
-	const btVector3& getLinearFactor() const
-	{
-		return m_linearFactor;
-	}
-	void setLinearFactor(const btVector3& linearFactor)
-	{
-		m_linearFactor = linearFactor;
-		m_invMass = m_linearFactor*m_inverseMass;
-	}
-	btScalar		getInvMass() const { return m_inverseMass; }
-	const btMatrix3x3& getInvInertiaTensorWorld() const { 
-		return m_invInertiaTensorWorld; 
-	}
-		
-	void			integrateVelocities(btScalar step);
-
-	void			setCenterOfMassTransform(const btTransform& xform);
-
-	void			applyCentralForce(const btVector3& force)
-	{
-		m_totalForce += force*m_linearFactor;
-	}
-
-	const btVector3& getTotalForce() const
-	{
-		return m_totalForce;
-	};
-
-	const btVector3& getTotalTorque() const
-	{
-		return m_totalTorque;
-	};
-    
-	const btVector3& getInvInertiaDiagLocal() const
-	{
-		return m_invInertiaLocal;
-	};
-
-	void	setInvInertiaDiagLocal(const btVector3& diagInvInertia)
-	{
-		m_invInertiaLocal = diagInvInertia;
-	}
-
-	void	setSleepingThresholds(btScalar linear,btScalar angular)
-	{
-		m_linearSleepingThreshold = linear;
-		m_angularSleepingThreshold = angular;
-	}
-
-	void	applyTorque(const btVector3& torque)
-	{
-		m_totalTorque += torque*m_angularFactor;
-	}
-	
-	void	applyForce(const btVector3& force, const btVector3& rel_pos) 
-	{
-		applyCentralForce(force);
-		applyTorque(rel_pos.cross(force*m_linearFactor));
-	}
-	
-	void applyCentralImpulse(const btVector3& impulse)
-	{
-		m_linearVelocity += impulse *m_linearFactor * m_inverseMass;
-	}
-	
-  	void applyTorqueImpulse(const btVector3& torque)
-	{
-			m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
-	}
-	
-	void applyImpulse(const btVector3& impulse, const btVector3& rel_pos) 
-	{
-		if (m_inverseMass != btScalar(0.))
-		{
-			applyCentralImpulse(impulse);
-			if (m_angularFactor)
-			{
-				applyTorqueImpulse(rel_pos.cross(impulse*m_linearFactor));
-			}
-		}
-	}
-
-	void clearForces() 
-	{
-		m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-		m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-	
-	void updateInertiaTensor();    
-	
-	const btVector3&     getCenterOfMassPosition() const { 
-		return m_worldTransform.getOrigin(); 
-	}
-	btQuaternion getOrientation() const;
-	
-	const btTransform&  getCenterOfMassTransform() const { 
-		return m_worldTransform; 
-	}
-	const btVector3&   getLinearVelocity() const { 
-		return m_linearVelocity; 
-	}
-	const btVector3&    getAngularVelocity() const { 
-		return m_angularVelocity; 
-	}
-	
-
-	inline void setLinearVelocity(const btVector3& lin_vel)
-	{ 
-		m_linearVelocity = lin_vel; 
-	}
-
-	inline void setAngularVelocity(const btVector3& ang_vel) 
-	{ 
-		m_angularVelocity = ang_vel; 
-	}
-
-	btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
-	{
-		//we also calculate lin/ang velocity for kinematic objects
-		return m_linearVelocity + m_angularVelocity.cross(rel_pos);
-
-		//for kinematic objects, we could also use use:
-		//		return 	(m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
-	}
-
-	void translate(const btVector3& v) 
-	{
-		m_worldTransform.getOrigin() += v; 
-	}
-
-	
-	void	getAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-
-
-
-
-	
-	SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
-	{
-		btVector3 r0 = pos - getCenterOfMassPosition();
-
-		btVector3 c0 = (r0).cross(normal);
-
-		btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
-
-		return m_inverseMass + normal.dot(vec);
-
-	}
-
-	SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
-	{
-		btVector3 vec = axis * getInvInertiaTensorWorld();
-		return axis.dot(vec);
-	}
-
-	SIMD_FORCE_INLINE void	updateDeactivation(btScalar timeStep)
-	{
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
-			return;
-
-		if ((getLinearVelocity().length2() < m_linearSleepingThreshold*m_linearSleepingThreshold) &&
-			(getAngularVelocity().length2() < m_angularSleepingThreshold*m_angularSleepingThreshold))
-		{
-			m_deactivationTime += timeStep;
-		} else
-		{
-			m_deactivationTime=btScalar(0.);
-			setActivationState(0);
-		}
-
-	}
-
-	SIMD_FORCE_INLINE bool	wantsSleeping()
-	{
-
-		if (getActivationState() == DISABLE_DEACTIVATION)
-			return false;
-
-		//disable deactivation
-		if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
-			return false;
-
-		if ( (getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
-			return true;
-
-		if (m_deactivationTime> gDeactivationTime)
-		{
-			return true;
-		}
-		return false;
-	}
-
-
-	
-	const btBroadphaseProxy*	getBroadphaseProxy() const
-	{
-		return m_broadphaseHandle;
-	}
-	btBroadphaseProxy*	getBroadphaseProxy() 
-	{
-		return m_broadphaseHandle;
-	}
-	void	setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
-	{
-		m_broadphaseHandle = broadphaseProxy;
-	}
-
-	//btMotionState allows to automatic synchronize the world transform for active objects
-	btMotionState*	getMotionState()
-	{
-		return m_optionalMotionState;
-	}
-	const btMotionState*	getMotionState() const
-	{
-		return m_optionalMotionState;
-	}
-	void	setMotionState(btMotionState* motionState)
-	{
-		m_optionalMotionState = motionState;
-		if (m_optionalMotionState)
-			motionState->getWorldTransform(m_worldTransform);
-	}
-
-	//for experimental overriding of friction/contact solver func
-	int	m_contactSolverType;
-	int	m_frictionSolverType;
-
-	void	setAngularFactor(const btVector3& angFac)
-	{
-		m_angularFactor = angFac;
-	}
-
-	void	setAngularFactor(btScalar angFac)
-	{
-		m_angularFactor.setValue(angFac,angFac,angFac);
-	}
-	const btVector3&	getAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	//is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
-	bool	isInWorld() const
-	{
-		return (getBroadphaseProxy() != 0);
-	}
-
-	virtual bool checkCollideWithOverride(btCollisionObject* co);
-
-	void addConstraintRef(btTypedConstraint* c);
-	void removeConstraintRef(btTypedConstraint* c);
-
-	btTypedConstraint* getConstraintRef(int index)
-	{
-		return m_constraintRefs[index];
-	}
-
-	int getNumConstraintRefs() const
-	{
-		return m_constraintRefs.size();
-	}
-
-	void	setFlags(int flags)
-	{
-		m_rigidbodyFlags = flags;
-	}
-
-	int getFlags() const
-	{
-		return m_rigidbodyFlags;
-	}
-
-	const btVector3& getDeltaLinearVelocity() const
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	const btVector3& getDeltaAngularVelocity() const
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& getPushVelocity() const 
-	{
-		return m_pushVelocity;
-	}
-
-	const btVector3& getTurnVelocity() const 
-	{
-		return m_turnVelocity;
-	}
-
-
-	////////////////////////////////////////////////
-	///some internal methods, don't use them
-		
-	btVector3& internalGetDeltaLinearVelocity()
-	{
-		return m_deltaLinearVelocity;
-	}
-
-	btVector3& internalGetDeltaAngularVelocity()
-	{
-		return m_deltaAngularVelocity;
-	}
-
-	const btVector3& internalGetAngularFactor() const
-	{
-		return m_angularFactor;
-	}
-
-	const btVector3& internalGetInvMass() const
-	{
-		return m_invMass;
-	}
-	
-	btVector3& internalGetPushVelocity()
-	{
-		return m_pushVelocity;
-	}
-
-	btVector3& internalGetTurnVelocity()
-	{
-		return m_turnVelocity;
-	}
-
-	SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete(const btVector3& rel_pos, btVector3& velocity ) const
-	{
-		velocity = getLinearVelocity()+m_deltaLinearVelocity + (getAngularVelocity()+m_deltaAngularVelocity).cross(rel_pos);
-	}
-
-	SIMD_FORCE_INLINE void	internalGetAngularVelocity(btVector3& angVel) const
-	{
-		angVel = getAngularVelocity()+m_deltaAngularVelocity;
-	}
-
-
-	//Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
-	SIMD_FORCE_INLINE void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,const btScalar impulseMagnitude)
-	{
-		if (m_inverseMass)
-		{
-			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_inverseMass)
-		{
-			m_pushVelocity += linearComponent*impulseMagnitude;
-			m_turnVelocity += angularComponent*(impulseMagnitude*m_angularFactor);
-		}
-	}
-	
-	void	internalWritebackVelocity()
-	{
-		if (m_inverseMass)
-		{
-			setLinearVelocity(getLinearVelocity()+ m_deltaLinearVelocity);
-			setAngularVelocity(getAngularVelocity()+m_deltaAngularVelocity);
-			//m_deltaLinearVelocity.setZero();
-			//m_deltaAngularVelocity .setZero();
-			//m_originalBody->setCompanionId(-1);
-		}
-	}
-
-
-	void	internalWritebackVelocity(btScalar timeStep);
-
-	
-
-	///////////////////////////////////////////////
-
-	virtual	int	calculateSerializeBufferSize()	const;
-
-	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	virtual	const char*	serialize(void* dataBuffer,  class btSerializer* serializer) const;
-
-	virtual void serializeSingleObject(class btSerializer* serializer) const;
-
-};
-
-//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyFloatData
-{
-	btCollisionObjectFloatData	m_collisionObjectData;
-	btMatrix3x3FloatData		m_invInertiaTensorWorld;
-	btVector3FloatData		m_linearVelocity;
-	btVector3FloatData		m_angularVelocity;
-	btVector3FloatData		m_angularFactor;
-	btVector3FloatData		m_linearFactor;
-	btVector3FloatData		m_gravity;	
-	btVector3FloatData		m_gravity_acceleration;
-	btVector3FloatData		m_invInertiaLocal;
-	btVector3FloatData		m_totalForce;
-	btVector3FloatData		m_totalTorque;
-	float					m_inverseMass;
-	float					m_linearDamping;
-	float					m_angularDamping;
-	float					m_additionalDampingFactor;
-	float					m_additionalLinearDampingThresholdSqr;
-	float					m_additionalAngularDampingThresholdSqr;
-	float					m_additionalAngularDampingFactor;
-	float					m_linearSleepingThreshold;
-	float					m_angularSleepingThreshold;
-	int						m_additionalDamping;
-};
-
-///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
-struct	btRigidBodyDoubleData
-{
-	btCollisionObjectDoubleData	m_collisionObjectData;
-	btMatrix3x3DoubleData		m_invInertiaTensorWorld;
-	btVector3DoubleData		m_linearVelocity;
-	btVector3DoubleData		m_angularVelocity;
-	btVector3DoubleData		m_angularFactor;
-	btVector3DoubleData		m_linearFactor;
-	btVector3DoubleData		m_gravity;	
-	btVector3DoubleData		m_gravity_acceleration;
-	btVector3DoubleData		m_invInertiaLocal;
-	btVector3DoubleData		m_totalForce;
-	btVector3DoubleData		m_totalTorque;
-	double					m_inverseMass;
-	double					m_linearDamping;
-	double					m_angularDamping;
-	double					m_additionalDampingFactor;
-	double					m_additionalLinearDampingThresholdSqr;
-	double					m_additionalAngularDampingThresholdSqr;
-	double					m_additionalAngularDampingFactor;
-	double					m_linearSleepingThreshold;
-	double					m_angularSleepingThreshold;
-	int						m_additionalDamping;
-	char	m_padding[4];
-};
-
-
-
-#endif //BT_RIGIDBODY_H
-