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

data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h

@@ -1,748 +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_SOFT_BODY_SOLVER_DATA_H
-#define BT_SOFT_BODY_SOLVER_DATA_H
-
-#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
-#include "vectormath/vmInclude.h"
-
-
-class btSoftBodyLinkData
-{
-public:
-	/**
-	 * Class representing a link as a set of three indices into the vertex array.
-	 */
-	class LinkNodePair
-	{
-	public:
-		int vertex0;
-		int vertex1;
-
-		LinkNodePair()
-		{
-			vertex0 = 0;
-			vertex1 = 0;
-		}
-
-		LinkNodePair( int v0, int v1 )
-		{
-			vertex0 = v0;
-			vertex1 = v1;
-		}
-	};
-
-	/**
-	 * Class describing a link for input into the system.
-	 */
-	class LinkDescription
-	{
-	protected:
-		int m_vertex0;
-		int m_vertex1;
-		float m_linkLinearStiffness;
-		float m_linkStrength;
-
-	public:
-
-		LinkDescription()
-		{
-			m_vertex0 = 0;
-			m_vertex1 = 0;
-			m_linkLinearStiffness = 1.0;
-			m_linkStrength = 1.0;
-		}
-
-		LinkDescription( int newVertex0, int newVertex1, float linkLinearStiffness )
-		{
-			m_vertex0 = newVertex0;
-			m_vertex1 = newVertex1;
-			m_linkLinearStiffness = linkLinearStiffness;
-			m_linkStrength = 1.0;
-		}
-
-		LinkNodePair getVertexPair() const
-		{
-			LinkNodePair nodes;
-			nodes.vertex0 = m_vertex0;
-			nodes.vertex1 = m_vertex1;
-			return nodes;
-		}
-
-		void setVertex0( int vertex )
-		{
-			m_vertex0 = vertex;
-		}
-
-		void setVertex1( int vertex )
-		{
-			m_vertex1 = vertex;
-		}
-
-		void setLinkLinearStiffness( float linearStiffness )
-		{
-			m_linkLinearStiffness = linearStiffness;
-		}
-
-		void setLinkStrength( float strength )
-		{
-			m_linkStrength = strength;
-		}
-
-		int getVertex0() const
-		{
-			return m_vertex0;
-		}
-
-		int getVertex1() const
-		{
-			return m_vertex1;
-		}
-
-		float getLinkStrength() const
-		{
-			return m_linkStrength;
-		}
-
-		float getLinkLinearStiffness() const
-		{
-			return m_linkLinearStiffness;
-		}
-	};
-
-
-protected:
-	// NOTE:
-	// Vertex reference data is stored relative to global array, not relative to individual cloth.
-	// Values must be correct if being passed into single-cloth VBOs or when migrating from one solver
-	// to another.
-
-	btAlignedObjectArray< LinkNodePair > m_links; // Vertex pair for the link
-	btAlignedObjectArray< float >								m_linkStrength; // Strength of each link
-	// (inverseMassA + inverseMassB)/ linear stiffness coefficient
-	btAlignedObjectArray< float >								m_linksMassLSC; 
-	btAlignedObjectArray< float >								m_linksRestLengthSquared; 
-	// Current vector length of link
-	btAlignedObjectArray< Vectormath::Aos::Vector3 >			m_linksCLength;
-	// 1/(current length * current length * massLSC)
-	btAlignedObjectArray< float >								m_linksLengthRatio; 
-	btAlignedObjectArray< float >								m_linksRestLength;
-	btAlignedObjectArray< float >								m_linksMaterialLinearStiffnessCoefficient;
-
-public:
-	btSoftBodyLinkData()
-	{
-	}
-
-	virtual ~btSoftBodyLinkData()
-	{
-	}
-
-	virtual void clear()
-	{
-		m_links.resize(0);
-		m_linkStrength.resize(0);
-		m_linksMassLSC.resize(0);
-		m_linksRestLengthSquared.resize(0);
-		m_linksLengthRatio.resize(0);
-		m_linksRestLength.resize(0);
-		m_linksMaterialLinearStiffnessCoefficient.resize(0);
-	}
-
-	int getNumLinks()
-	{
-		return m_links.size();
-	}
-
-	/** Allocate enough space in all link-related arrays to fit numLinks links */
-	virtual void createLinks( int numLinks )
-	{
-		int previousSize = m_links.size();
-		int newSize = previousSize + numLinks;
-
-		// Resize all the arrays that store link data
-		m_links.resize( newSize );
-		m_linkStrength.resize( newSize );
-		m_linksMassLSC.resize( newSize );
-		m_linksRestLengthSquared.resize( newSize );
-		m_linksCLength.resize( newSize );
-		m_linksLengthRatio.resize( newSize );
-		m_linksRestLength.resize( newSize );
-		m_linksMaterialLinearStiffnessCoefficient.resize( newSize );
-	}
-	
-	/** Insert the link described into the correct data structures assuming space has already been allocated by a call to createLinks */
-	virtual void setLinkAt( const LinkDescription &link, int linkIndex )
-	{
-		m_links[linkIndex] = link.getVertexPair();
-		m_linkStrength[linkIndex] = link.getLinkStrength();
-		m_linksMassLSC[linkIndex] = 0.f;
-		m_linksRestLengthSquared[linkIndex] = 0.f;
-		m_linksCLength[linkIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
-		m_linksLengthRatio[linkIndex] = 0.f;
-		m_linksRestLength[linkIndex] = 0.f;
-		m_linksMaterialLinearStiffnessCoefficient[linkIndex] = link.getLinkLinearStiffness();
-	}
-
-
-	/**
-	 * Return true if data is on the accelerator.
-	 * The CPU version of this class will return true here because
-	 * the CPU is the same as the accelerator.
-	 */
-	virtual bool onAccelerator()
-	{
-		return true;
-	}
-	
-	/**
-	 * Move data from host memory to the accelerator.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveToAccelerator()
-	{
-		return true;
-	}
-
-	/**
-	 * Move data from host memory from the accelerator.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveFromAccelerator()
-	{
-		return true;
-	}
-
-
-
-	/**
-	 * Return reference to the vertex index pair for link linkIndex as stored on the host.
-	 */
-	LinkNodePair &getVertexPair( int linkIndex )
-	{
-		return m_links[linkIndex];
-	}
-
-	/** 
-	 * Return reference to strength of link linkIndex as stored on the host.
-	 */
-	float &getStrength( int linkIndex )
-	{
-		return m_linkStrength[linkIndex];
-	}
-
-	/**
-	 * Return a reference to the strength of the link corrected for link sorting.
-	 * This is important if we are using data on an accelerator which has the data sorted in some fashion.
-	 */
-	virtual float &getStrengthCorrected( int linkIndex )
-	{
-		return getStrength( linkIndex );
-	}
-
-	/**
-	 * Return reference to the rest length of link linkIndex as stored on the host.
-	 */
-	float &getRestLength( int linkIndex )
-	{
-		return m_linksRestLength[linkIndex];
-	}
-
-	/**
-	 * Return reference to linear stiffness coefficient for link linkIndex as stored on the host.
-	 */
-	float &getLinearStiffnessCoefficient( int linkIndex )
-	{
-		return m_linksMaterialLinearStiffnessCoefficient[linkIndex];
-	}
-
-	/**
-	 * Return reference to the MassLSC value for link linkIndex as stored on the host.
-	 */
-	float &getMassLSC( int linkIndex )
-	{
-		return m_linksMassLSC[linkIndex];
-	}
-
-	/**
-	 * Return reference to rest length squared for link linkIndex as stored on the host.
-	 */
-	float &getRestLengthSquared( int linkIndex )
-	{
-		return m_linksRestLengthSquared[linkIndex];
-	}
-
-	/**
-	 * Return reference to current length of link linkIndex as stored on the host.
-	 */
-	Vectormath::Aos::Vector3 &getCurrentLength( int linkIndex )
-	{
-		return m_linksCLength[linkIndex];
-	}
-
-	 /**
-	  * Return the link length ratio from for link linkIndex as stored on the host.
-	  */
-	 float &getLinkLengthRatio( int linkIndex )
-	 {
-		 return m_linksLengthRatio[linkIndex];
-	 }
-};
-
-
-
-/**
- * Wrapper for vertex data information.
- * By wrapping it like this we stand a good chance of being able to optimise for storage format easily.
- * It should also help us make sure all the data structures remain consistent.
- */
-class btSoftBodyVertexData
-{
-public:
-	/**
-	 * Class describing a vertex for input into the system.
-	 */
-	class VertexDescription
-	{
-	private:
-		Vectormath::Aos::Point3 m_position;
-		/** Inverse mass. If this is 0f then the mass was 0 because that simplifies calculations. */
-		float m_inverseMass;
-
-	public:
-		VertexDescription()
-		{	
-			m_position = Vectormath::Aos::Point3( 0.f, 0.f, 0.f );
-			m_inverseMass = 0.f;
-		}
-
-		VertexDescription( const Vectormath::Aos::Point3 &position, float mass )
-		{
-			m_position = position;
-			if( mass > 0.f )
-				m_inverseMass = 1.0f/mass;
-			else
-				m_inverseMass = 0.f;
-		}
-
-		void setPosition( const Vectormath::Aos::Point3 &position )
-		{
-			m_position = position;
-		}
-
-		void setInverseMass( float inverseMass )
-		{
-			m_inverseMass = inverseMass;
-		}
-
-		void setMass( float mass )
-		{
-			if( mass > 0.f )
-				m_inverseMass = 1.0f/mass;
-			else
-				m_inverseMass = 0.f;
-		}
-
-		Vectormath::Aos::Point3 getPosition() const
-		{
-			return m_position;
-		}
-
-		float getInverseMass() const
-		{
-			return m_inverseMass;
-		}
-
-		float getMass() const
-		{
-			if( m_inverseMass == 0.f )
-				return 0.f;
-			else
-				return 1.0f/m_inverseMass;
-		}
-	};
-protected:
-
-	// identifier for the individual cloth
-	// For the CPU we don't really need this as we can grab the cloths and iterate over only their vertices
-	// For a parallel accelerator knowing on a per-vertex basis which cloth we're part of will help for obtaining
-	// per-cloth data
-	// For sorting etc it might also be helpful to be able to use in-array data such as this.
-	btAlignedObjectArray< int >							m_clothIdentifier;
-	btAlignedObjectArray< Vectormath::Aos::Point3 >		m_vertexPosition;			// vertex positions
-	btAlignedObjectArray< Vectormath::Aos::Point3 >		m_vertexPreviousPosition;	// vertex positions
-	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_vertexVelocity;			// Velocity
-	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_vertexForceAccumulator;	// Force accumulator
-	btAlignedObjectArray< Vectormath::Aos::Vector3 >	m_vertexNormal;				// Normals
-	btAlignedObjectArray< float >						m_vertexInverseMass;		// Inverse mass
-	btAlignedObjectArray< float >						m_vertexArea;				// Area controlled by the vertex
-	btAlignedObjectArray< int >							m_vertexTriangleCount;		// Number of triangles touching this vertex
-
-public:
-	btSoftBodyVertexData()
-	{
-	}
-
-	virtual ~btSoftBodyVertexData()
-	{
-	}
-
-	virtual void clear()
-	{
-		m_clothIdentifier.resize(0);
-		m_vertexPosition.resize(0);
-		m_vertexPreviousPosition.resize(0);
-		m_vertexVelocity.resize(0);
-		m_vertexForceAccumulator.resize(0);
-		m_vertexNormal.resize(0);
-		m_vertexInverseMass.resize(0);
-		m_vertexArea.resize(0);
-		m_vertexTriangleCount.resize(0);
-	}
-
-	int getNumVertices()
-	{
-		return m_vertexPosition.size();
-	}
-
-	int getClothIdentifier( int vertexIndex )
-	{
-		return m_clothIdentifier[vertexIndex];
-	}
-
-	void setVertexAt( const VertexDescription &vertex, int vertexIndex )
-	{
-		m_vertexPosition[vertexIndex] = vertex.getPosition();
-		m_vertexPreviousPosition[vertexIndex] = vertex.getPosition();
-		m_vertexVelocity[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
-		m_vertexForceAccumulator[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
-		m_vertexNormal[vertexIndex] = Vectormath::Aos::Vector3(0.f, 0.f, 0.f);
-		m_vertexInverseMass[vertexIndex] = vertex.getInverseMass();
-		m_vertexArea[vertexIndex] = 0.f;
-		m_vertexTriangleCount[vertexIndex] = 0;
-	}
-
-	/** 
-	 * Create numVertices new vertices for cloth clothIdentifier 
-	 * maxVertices allows a buffer zone of extra vertices for alignment or tearing reasons.
-	 */
-	void createVertices( int numVertices, int clothIdentifier, int maxVertices = 0 )
-	{
-		int previousSize = m_vertexPosition.size();
-		if( maxVertices == 0 )
-			maxVertices = numVertices;
-		int newSize = previousSize + maxVertices;
-
-		// Resize all the arrays that store vertex data
-		m_clothIdentifier.resize( newSize );
-		m_vertexPosition.resize( newSize );
-		m_vertexPreviousPosition.resize( newSize );
-		m_vertexVelocity.resize( newSize );
-		m_vertexForceAccumulator.resize( newSize );
-		m_vertexNormal.resize( newSize );
-		m_vertexInverseMass.resize( newSize );
-		m_vertexArea.resize( newSize );
-		m_vertexTriangleCount.resize( newSize );
-
-		for( int vertexIndex = previousSize; vertexIndex < newSize; ++vertexIndex )
-			m_clothIdentifier[vertexIndex] = clothIdentifier;
-		for( int vertexIndex = (previousSize + numVertices); vertexIndex < newSize; ++vertexIndex )
-			m_clothIdentifier[vertexIndex] = -1;
-	}
-
-	// Get and set methods in header so they can be inlined
-
-	/**
-	 * Return a reference to the position of vertex vertexIndex as stored on the host.
-	 */
-	Vectormath::Aos::Point3 &getPosition( int vertexIndex )
-	{
-		return m_vertexPosition[vertexIndex];
-	}
-
-	Vectormath::Aos::Point3 getPosition( int vertexIndex ) const
-	{
-		return m_vertexPosition[vertexIndex];
-	}
-
-	/**
-	 * Return a reference to the previous position of vertex vertexIndex as stored on the host.
-	 */
-	Vectormath::Aos::Point3 &getPreviousPosition( int vertexIndex )
-	{
-		return m_vertexPreviousPosition[vertexIndex];
-	}
-
-	/**
-	 * Return a reference to the velocity of vertex vertexIndex as stored on the host.
-	 */
-	Vectormath::Aos::Vector3 &getVelocity( int vertexIndex )
-	{
-		return m_vertexVelocity[vertexIndex];
-	}
-
-	/**
-	 * Return a reference to the force accumulator of vertex vertexIndex as stored on the host.
-	 */
-	Vectormath::Aos::Vector3 &getForceAccumulator( int vertexIndex )
-	{
-		return m_vertexForceAccumulator[vertexIndex];
-	}
-
-	/**
-	 * Return a reference to the normal of vertex vertexIndex as stored on the host.
-	 */
-	Vectormath::Aos::Vector3 &getNormal( int vertexIndex )
-	{
-		return m_vertexNormal[vertexIndex];
-	}
-
-	Vectormath::Aos::Vector3 getNormal( int vertexIndex ) const
-	{
-		return m_vertexNormal[vertexIndex];
-	}
-
-	/**
-	 * Return a reference to the inverse mass of vertex vertexIndex as stored on the host.
-	 */
-	float &getInverseMass( int vertexIndex )
-	{
-		return m_vertexInverseMass[vertexIndex];
-	}
-
-	/**
-	 * Get access to the area controlled by this vertex.
-	 */
-	float &getArea( int vertexIndex )
-	{
-		return m_vertexArea[vertexIndex];
-	}
-
-	/**
-	 * Get access to the array of how many triangles touch each vertex.
-	 */
-	int &getTriangleCount( int vertexIndex )
-	{
-		return m_vertexTriangleCount[vertexIndex];
-	}
-
-
-
-	/**
-	 * Return true if data is on the accelerator.
-	 * The CPU version of this class will return true here because
-	 * the CPU is the same as the accelerator.
-	 */
-	virtual bool onAccelerator()
-	{
-		return true;
-	}
-	
-	/**
-	 * Move data from host memory to the accelerator.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveToAccelerator()
-	{
-		return true;
-	}
-
-	/**
-	 * Move data to host memory from the accelerator if bCopy is false.
-	 * If bCopy is true, copy data to host memory from the accelerator so that data 
-	 * won't be moved to accelerator when moveToAccelerator() is called next time. 
-	 * If bCopyMinimum is true, only vertex position and normal are copied.
-	 * bCopyMinimum will be meaningful only if bCopy is true.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveFromAccelerator(bool bCopy = false, bool bCopyMinimum = true)
-	{
-		return true;
-	}
-
-	btAlignedObjectArray< Vectormath::Aos::Point3 >	&getVertexPositions()
-	{
-		return m_vertexPosition;
-	}
-};
-
-
-class btSoftBodyTriangleData
-{
-public:
-	/**
-	 * Class representing a triangle as a set of three indices into the
-	 * vertex array.
-	 */
-	class TriangleNodeSet
-	{
-	public:
-		int vertex0;
-		int vertex1;
-		int vertex2;
-		int _padding;
-
-		TriangleNodeSet( )
-		{
-			vertex0 = 0;
-			vertex1 = 0;
-			vertex2 = 0;
-			_padding = -1;
-		}
-
-		TriangleNodeSet( int newVertex0, int newVertex1, int newVertex2 )
-		{
-			vertex0 = newVertex0;
-			vertex1 = newVertex1;
-			vertex2 = newVertex2;
-		}
-	};
-
-	class TriangleDescription
-	{
-	protected:
-		int m_vertex0;
-		int m_vertex1;
-		int m_vertex2;
-
-	public:
-		TriangleDescription()
-		{
-			m_vertex0 = 0;
-			m_vertex1 = 0;
-			m_vertex2 = 0;
-		}
-
-		TriangleDescription( int newVertex0, int newVertex1, int newVertex2 )
-		{
-			m_vertex0 = newVertex0;
-			m_vertex1 = newVertex1;
-			m_vertex2 = newVertex2;
-		}
-
-		TriangleNodeSet getVertexSet() const
-		{
-			btSoftBodyTriangleData::TriangleNodeSet nodes;
-			nodes.vertex0 = m_vertex0;
-			nodes.vertex1 = m_vertex1;
-			nodes.vertex2 = m_vertex2;
-			return nodes;
-		}
-	};
-
-protected:
-	// NOTE:
-	// Vertex reference data is stored relative to global array, not relative to individual cloth.
-	// Values must be correct if being passed into single-cloth VBOs or when migrating from one solver
-	// to another.
-	btAlignedObjectArray< TriangleNodeSet > m_vertexIndices;
-	btAlignedObjectArray< float > m_area;
-	btAlignedObjectArray< Vectormath::Aos::Vector3 > m_normal;
-
-public:
-	btSoftBodyTriangleData()
-	{
-	}
-
-	virtual ~btSoftBodyTriangleData()
-	{
-
-	}
-
-	virtual void clear()
-	{
-		m_vertexIndices.resize(0);
-		m_area.resize(0);
-		m_normal.resize(0);
-	}
-
-	int getNumTriangles()
-	{
-		return m_vertexIndices.size();
-	}
-
-	virtual void setTriangleAt( const TriangleDescription &triangle, int triangleIndex )
-	{
-		m_vertexIndices[triangleIndex] = triangle.getVertexSet();
-	}
-
-	virtual void createTriangles( int numTriangles )		
-	{
-		int previousSize = m_vertexIndices.size();
-		int newSize = previousSize + numTriangles;
-
-		// Resize all the arrays that store triangle data
-		m_vertexIndices.resize( newSize );
-		m_area.resize( newSize );
-		m_normal.resize( newSize );
-	}
-
-	/**
-	 * Return the vertex index set for triangle triangleIndex as stored on the host.
-	 */
-	const TriangleNodeSet &getVertexSet( int triangleIndex )
-	{
-		return m_vertexIndices[triangleIndex];
-	}
-
-	/**
-	 * Get access to the triangle area.
-	 */
-	float &getTriangleArea( int triangleIndex )
-	{
-		return m_area[triangleIndex];
-	}
-
-	/**
-	 * Get access to the normal vector for this triangle.
-	 */
-	Vectormath::Aos::Vector3 &getNormal( int triangleIndex )
-	{
-		return m_normal[triangleIndex];
-	}
-
-	/**
-	 * Return true if data is on the accelerator.
-	 * The CPU version of this class will return true here because
-	 * the CPU is the same as the accelerator.
-	 */
-	virtual bool onAccelerator()
-	{
-		return true;
-	}
-	
-	/**
-	 * Move data from host memory to the accelerator.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveToAccelerator()
-	{
-		return true;
-	}
-
-	/**
-	 * Move data from host memory from the accelerator.
-	 * The CPU version will always return that it has moved it.
-	 */
-	virtual bool moveFromAccelerator()
-	{
-		return true;
-	}
-};
-
-
-#endif // #ifndef BT_SOFT_BODY_SOLVER_DATA_H
-