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

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

@@ -1,89 +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_SIMPLE_DYNAMICS_WORLD_H
-#define BT_SIMPLE_DYNAMICS_WORLD_H
-
-#include "btDynamicsWorld.h"
-
-class btDispatcher;
-class btOverlappingPairCache;
-class btConstraintSolver;
-
-///The btSimpleDynamicsWorld serves as unit-test and to verify more complicated and optimized dynamics worlds.
-///Please use btDiscreteDynamicsWorld instead
-class btSimpleDynamicsWorld : public btDynamicsWorld
-{
-protected:
-
-	btConstraintSolver*	m_constraintSolver;
-
-	bool	m_ownsConstraintSolver;
-
-	void	predictUnconstraintMotion(btScalar timeStep);
-	
-	void	integrateTransforms(btScalar timeStep);
-		
-	btVector3	m_gravity;
-	
-public:
-
-
-
-	///this btSimpleDynamicsWorld constructor creates dispatcher, broadphase pairCache and constraintSolver
-	btSimpleDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
-
-	virtual ~btSimpleDynamicsWorld();
-		
-	///maxSubSteps/fixedTimeStep for interpolation is currently ignored for btSimpleDynamicsWorld, use btDiscreteDynamicsWorld instead
-	virtual int	stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
-
-	virtual void	setGravity(const btVector3& gravity);
-
-	virtual btVector3 getGravity () const;
-
-	virtual void	addRigidBody(btRigidBody* body);
-
-	virtual void	addRigidBody(btRigidBody* body, short group, short mask);
-
-	virtual void	removeRigidBody(btRigidBody* body);
-
-	virtual void	debugDrawWorld();
-				
-	virtual void	addAction(btActionInterface* action);
-
-	virtual void	removeAction(btActionInterface* action);
-
-	///removeCollisionObject will first check if it is a rigid body, if so call removeRigidBody otherwise call btCollisionWorld::removeCollisionObject
-	virtual void	removeCollisionObject(btCollisionObject* collisionObject);
-	
-	virtual void	updateAabbs();
-
-	virtual void	synchronizeMotionStates();
-
-	virtual void	setConstraintSolver(btConstraintSolver* solver);
-
-	virtual btConstraintSolver* getConstraintSolver();
-
-	virtual btDynamicsWorldType	getWorldType() const
-	{
-		return BT_SIMPLE_DYNAMICS_WORLD;
-	}
-
-	virtual void	clearForces();
-
-};
-
-#endif //BT_SIMPLE_DYNAMICS_WORLD_H

data/deps/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -1,236 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_RAYCASTVEHICLE_H
-#define BT_RAYCASTVEHICLE_H
-
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-#include "btVehicleRaycaster.h"
-class btDynamicsWorld;
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btWheelInfo.h"
-#include "BulletDynamics/Dynamics/btActionInterface.h"
-
-class btVehicleTuning;
-
-///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
-class btRaycastVehicle : public btActionInterface
-{
-
-		btAlignedObjectArray<btVector3>	m_forwardWS;
-		btAlignedObjectArray<btVector3>	m_axle;
-		btAlignedObjectArray<btScalar>	m_forwardImpulse;
-		btAlignedObjectArray<btScalar>	m_sideImpulse;
-	
-		///backwards compatibility
-		int	m_userConstraintType;
-		int	m_userConstraintId;
-
-public:
-	class btVehicleTuning
-		{
-			public:
-
-			btVehicleTuning()
-				:m_suspensionStiffness(btScalar(5.88)),
-				m_suspensionCompression(btScalar(0.83)),
-				m_suspensionDamping(btScalar(0.88)),
-				m_maxSuspensionTravelCm(btScalar(500.)),
-				m_frictionSlip(btScalar(10.5)),
-				m_maxSuspensionForce(btScalar(6000.))
-			{
-			}
-			btScalar	m_suspensionStiffness;
-			btScalar	m_suspensionCompression;
-			btScalar	m_suspensionDamping;
-			btScalar	m_maxSuspensionTravelCm;
-			btScalar	m_frictionSlip;
-			btScalar	m_maxSuspensionForce;
-
-		};
-private:
-
-	btScalar	m_tau;
-	btScalar	m_damping;
-	btVehicleRaycaster*	m_vehicleRaycaster;
-	btScalar		m_pitchControl;
-	btScalar	m_steeringValue; 
-	btScalar m_currentVehicleSpeedKmHour;
-
-	btRigidBody* m_chassisBody;
-
-	int m_indexRightAxis;
-	int m_indexUpAxis;
-	int	m_indexForwardAxis;
-
-	void defaultInit(const btVehicleTuning& tuning);
-
-public:
-
-	//constructor to create a car from an existing rigidbody
-	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
-
-	virtual ~btRaycastVehicle() ;
-
-
-	///btActionInterface interface
-	virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
-	{
-        (void) collisionWorld;
-		updateVehicle(step);
-	}
-	
-
-	///btActionInterface interface
-	void	debugDraw(btIDebugDraw* debugDrawer);
-			
-	const btTransform& getChassisWorldTransform() const;
-	
-	btScalar rayCast(btWheelInfo& wheel);
-
-	virtual void updateVehicle(btScalar step);
-	
-	
-	void resetSuspension();
-
-	btScalar	getSteeringValue(int wheel) const;
-
-	void	setSteeringValue(btScalar steering,int wheel);
-
-
-	void	applyEngineForce(btScalar force, int wheel);
-
-	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
-
-	void	updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
-	
-//	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
-
-	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
-
-	inline int		getNumWheels() const {
-		return int (m_wheelInfo.size());
-	}
-	
-	btAlignedObjectArray<btWheelInfo>	m_wheelInfo;
-
-
-	const btWheelInfo&	getWheelInfo(int index) const;
-
-	btWheelInfo&	getWheelInfo(int index);
-
-	void	updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
-
-	
-	void setBrake(btScalar brake,int wheelIndex);
-
-	void	setPitchControl(btScalar pitch)
-	{
-		m_pitchControl = pitch;
-	}
-	
-	void	updateSuspension(btScalar deltaTime);
-
-	virtual void	updateFriction(btScalar	timeStep);
-
-
-
-	inline btRigidBody* getRigidBody()
-	{
-		return m_chassisBody;
-	}
-
-	const btRigidBody* getRigidBody() const
-	{
-		return m_chassisBody;
-	}
-
-	inline int	getRightAxis() const
-	{
-		return m_indexRightAxis;
-	}
-	inline int getUpAxis() const
-	{
-		return m_indexUpAxis;
-	}
-
-	inline int getForwardAxis() const
-	{
-		return m_indexForwardAxis;
-	}
-
-	
-	///Worldspace forward vector
-	btVector3 getForwardVector() const
-	{
-		const btTransform& chassisTrans = getChassisWorldTransform(); 
-
-		btVector3 forwardW ( 
-			  chassisTrans.getBasis()[0][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[1][m_indexForwardAxis], 
-			  chassisTrans.getBasis()[2][m_indexForwardAxis]); 
-
-		return forwardW;
-	}
-
-	///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
-	btScalar	getCurrentSpeedKmHour() const
-	{
-		return m_currentVehicleSpeedKmHour;
-	}
-
-	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
-	{
-		m_indexRightAxis = rightIndex;
-		m_indexUpAxis = upIndex;
-		m_indexForwardAxis = forwardIndex;
-	}
-
-
-	///backwards compatibility
-	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;
-	}
-
-};
-
-class btDefaultVehicleRaycaster : public btVehicleRaycaster
-{
-	btDynamicsWorld*	m_dynamicsWorld;
-public:
-	btDefaultVehicleRaycaster(btDynamicsWorld* world)
-		:m_dynamicsWorld(world)
-	{
-	}
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
-
-};
-
-
-#endif //BT_RAYCASTVEHICLE_H
-

data/deps/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h

@@ -1,35 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_VEHICLE_RAYCASTER_H
-#define BT_VEHICLE_RAYCASTER_H
-
-#include "LinearMath/btVector3.h"
-
-/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
-struct btVehicleRaycaster
-{
-virtual ~btVehicleRaycaster()
-{
-}
-	struct btVehicleRaycasterResult
-	{
-		btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
-		btVector3	m_hitPointInWorld;
-		btVector3	m_hitNormalInWorld;
-		btScalar	m_distFraction;
-	};
-
-	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
-
-};
-
-#endif //BT_VEHICLE_RAYCASTER_H
-

data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h

@@ -1,119 +0,0 @@
-/*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies.
- * Erwin Coumans makes no representations about the suitability 
- * of this software for any purpose.  
- * It is provided "as is" without express or implied warranty.
-*/
-#ifndef BT_WHEEL_INFO_H
-#define BT_WHEEL_INFO_H
-
-#include "LinearMath/btVector3.h"
-#include "LinearMath/btTransform.h"
-
-class btRigidBody;
-
-struct btWheelInfoConstructionInfo
-{
-	btVector3	m_chassisConnectionCS;
-	btVector3	m_wheelDirectionCS;
-	btVector3	m_wheelAxleCS;
-	btScalar	m_suspensionRestLength;
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar	m_wheelRadius;
-	
-	btScalar		m_suspensionStiffness;
-	btScalar		m_wheelsDampingCompression;
-	btScalar		m_wheelsDampingRelaxation;
-	btScalar		m_frictionSlip;
-	btScalar		m_maxSuspensionForce;
-	bool m_bIsFrontWheel;
-	
-};
-
-/// btWheelInfo contains information per wheel about friction and suspension.
-struct btWheelInfo
-{
-	struct RaycastInfo
-	{
-		//set by raycaster
-		btVector3	m_contactNormalWS;//contactnormal
-		btVector3	m_contactPointWS;//raycast hitpoint
-		btScalar	m_suspensionLength;
-		btVector3	m_hardPointWS;//raycast starting point
-		btVector3	m_wheelDirectionWS; //direction in worldspace
-		btVector3	m_wheelAxleWS; // axle in worldspace
-		bool		m_isInContact;
-		void*		m_groundObject; //could be general void* ptr
-	};
-
-	RaycastInfo	m_raycastInfo;
-
-	btTransform	m_worldTransform;
-	
-	btVector3	m_chassisConnectionPointCS; //const
-	btVector3	m_wheelDirectionCS;//const
-	btVector3	m_wheelAxleCS; // const or modified by steering
-	btScalar	m_suspensionRestLength1;//const
-	btScalar	m_maxSuspensionTravelCm;
-	btScalar getSuspensionRestLength() const;
-	btScalar	m_wheelsRadius;//const
-	btScalar	m_suspensionStiffness;//const
-	btScalar	m_wheelsDampingCompression;//const
-	btScalar	m_wheelsDampingRelaxation;//const
-	btScalar	m_frictionSlip;
-	btScalar	m_steering;
-	btScalar	m_rotation;
-	btScalar	m_deltaRotation;
-	btScalar	m_rollInfluence;
-	btScalar	m_maxSuspensionForce;
-
-	btScalar	m_engineForce;
-
-	btScalar	m_brake;
-	
-	bool m_bIsFrontWheel;
-	
-	void*		m_clientInfo;//can be used to store pointer to sync transforms...
-
-	btWheelInfo(btWheelInfoConstructionInfo& ci)
-
-	{
-
-		m_suspensionRestLength1 = ci.m_suspensionRestLength;
-		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
-
-		m_wheelsRadius = ci.m_wheelRadius;
-		m_suspensionStiffness = ci.m_suspensionStiffness;
-		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
-		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
-		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
-		m_wheelDirectionCS = ci.m_wheelDirectionCS;
-		m_wheelAxleCS = ci.m_wheelAxleCS;
-		m_frictionSlip = ci.m_frictionSlip;
-		m_steering = btScalar(0.);
-		m_engineForce = btScalar(0.);
-		m_rotation = btScalar(0.);
-		m_deltaRotation = btScalar(0.);
-		m_brake = btScalar(0.);
-		m_rollInfluence = btScalar(0.1);
-		m_bIsFrontWheel = ci.m_bIsFrontWheel;
-		m_maxSuspensionForce = ci.m_maxSuspensionForce;
-
-	}
-
-	void	updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
-
-	btScalar	m_clippedInvContactDotSuspension;
-	btScalar	m_suspensionRelativeVelocity;
-	//calculated by suspension
-	btScalar	m_wheelsSuspensionForce;
-	btScalar	m_skidInfo;
-
-};
-
-#endif //BT_WHEEL_INFO_H
-

data/deps/include/bullet/BulletDynamics/btBulletDynamicsCommon.h

@@ -1,48 +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 BULLET_DYNAMICS_COMMON_H
-#define BULLET_DYNAMICS_COMMON_H
-
-///Common headerfile includes for Bullet Dynamics, including Collision Detection
-#include "btBulletCollisionCommon.h"
-
-#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
-
-#include "BulletDynamics/Dynamics/btSimpleDynamicsWorld.h"
-#include "BulletDynamics/Dynamics/btRigidBody.h"
-
-#include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btUniversalConstraint.h"
-#include "BulletDynamics/ConstraintSolver/btHinge2Constraint.h"
-
-#include "BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"
-
-
-///Vehicle simulation, with wheel contact simulated by raycasts
-#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
-
-
-
-
-
-
-#endif //BULLET_DYNAMICS_COMMON_H
-