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

data/deps/include/bullet/BulletMultiThreaded/TrbStateVec.h

@@ -1,339 +0,0 @@
-/*
-   Copyright (C) 2009 Sony Computer Entertainment Inc.
-   All rights reserved.
-
-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_TRBSTATEVEC_H__
-#define BT_TRBSTATEVEC_H__
-
-#include <stdlib.h>
-#ifdef PFX_USE_FREE_VECTORMATH
-#include "vecmath/vmInclude.h"
-#else
-#include "vectormath/vmInclude.h"
-#endif //PFX_USE_FREE_VECTORMATH
-
-
-#include "PlatformDefinitions.h"
-
-
-static inline vmVector3 read_Vector3(const float* p)
-{
-	vmVector3 v;
-	loadXYZ(v, p);
-	return v;
-}
-
-static inline vmQuat read_Quat(const float* p)
-{
-	vmQuat vq;
-	loadXYZW(vq, p);
-	return vq;
-}
-
-static inline void store_Vector3(const vmVector3 &src, float* p)
-{
-	vmVector3 v = src;
-	storeXYZ(v, p);
-}
-
-static inline void store_Quat(const vmQuat &src, float* p)
-{
-	vmQuat vq = src;
-	storeXYZW(vq, p);
-}
-
-// Motion Type
-enum {
-	PfxMotionTypeFixed = 0,
-	PfxMotionTypeActive,
-	PfxMotionTypeKeyframe,
-	PfxMotionTypeOneWay,
-	PfxMotionTypeTrigger,
-	PfxMotionTypeCount
-};
-
-#define PFX_MOTION_MASK_DYNAMIC 0x0a // Active,OneWay
-#define PFX_MOTION_MASK_STATIC  0x95 // Fixed,Keyframe,Trigger,Sleeping
-#define PFX_MOTION_MASK_SLEEP   0x0e // Can sleep
-#define PFX_MOTION_MASK_TYPE    0x7f
-
-//
-// Rigid Body state
-//
-
-#ifdef __CELLOS_LV2__
-ATTRIBUTE_ALIGNED128(class) TrbState
-#else
-ATTRIBUTE_ALIGNED16(class) TrbState
-#endif
-
-{
-public:
-	TrbState()
-	{
-		setMotionType(PfxMotionTypeActive);
-		contactFilterSelf=contactFilterTarget=0xffffffff;
-		deleted = 0;
-		mSleeping = 0;
-		useSleep = 1;
-		trbBodyIdx=0;
-		mSleepCount=0;
-		useCcd = 0;
-		useContactCallback = 0;
-		useSleepCallback = 0;
-		linearDamping = 1.0f;
-		angularDamping = 0.99f;
-	}
-
-	TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega );
-	
-	uint16_t	mSleepCount;
-	uint8_t		mMotionType;
-	uint8_t		deleted            : 1;
-	uint8_t		mSleeping           : 1;
-	uint8_t		useSleep           : 1;
-	uint8_t		useCcd		       : 1;
-	uint8_t		useContactCallback : 1;
-	uint8_t		useSleepCallback   : 1;
-
-	uint16_t	trbBodyIdx;
-	uint32_t	contactFilterSelf;
-	uint32_t	contactFilterTarget;
-
-	float		center[3];		// AABB center(World)
-	float		half[3];		// AABB half(World)
-
-	float		linearDamping;
-	float		angularDamping;
-	
-	float		deltaLinearVelocity[3];
-	float		deltaAngularVelocity[3];
-
-	float     fX[3];				// position
-	float     fQ[4];				// orientation
-	float     fV[3];				// velocity
-	float     fOmega[3];			// angular velocity
-
-	inline void setZero();      // Zeroes out the elements
-	inline void setIdentity();  // Sets the rotation to identity and zeroes out the other elements
-
-	bool		isDeleted() const {return deleted==1;}
-
-	uint16_t	getRigidBodyId() const {return trbBodyIdx;}
-	void		setRigidBodyId(uint16_t i) {trbBodyIdx = i;}
-
-
-	uint32_t	getContactFilterSelf() const {return contactFilterSelf;}
-	void		setContactFilterSelf(uint32_t filter) {contactFilterSelf = filter;}
-
-	uint32_t	getContactFilterTarget() const {return contactFilterTarget;}
-	void		setContactFilterTarget(uint32_t filter) {contactFilterTarget = filter;}
-
-	float getLinearDamping() const {return linearDamping;}
-	float getAngularDamping() const {return angularDamping;}
-
-	void setLinearDamping(float damping) {linearDamping=damping;}
-	void setAngularDamping(float damping) {angularDamping=damping;}
-
-
-	uint8_t		getMotionType() const {return mMotionType;}
-	void		setMotionType(uint8_t t) {mMotionType = t;mSleeping=0;mSleepCount=0;}
-
-	uint8_t		getMotionMask() const {return (1<<mMotionType)|(mSleeping<<7);}
-
-	bool		isAsleep() const {return mSleeping==1;}
-	bool		isAwake() const {return mSleeping==0;}
-
-	void		wakeup() {mSleeping=0;mSleepCount=0;}
-	void		sleep() {if(useSleep) {mSleeping=1;mSleepCount=0;}}
-
-	uint8_t		getUseSleep() const {return useSleep;}
-	void		setUseSleep(uint8_t b) {useSleep=b;}
-
-	uint8_t		getUseCcd() const {return useCcd;}
-	void		setUseCcd(uint8_t b) {useCcd=b;}
-
-	uint8_t		getUseContactCallback() const {return useContactCallback;}
-	void		setUseContactCallback(uint8_t b) {useContactCallback=b;}
-
-	uint8_t		getUseSleepCallback() const {return useSleepCallback;}
-	void		setUseSleepCallback(uint8_t b) {useSleepCallback=b;}
-
-	void	 	incrementSleepCount() {mSleepCount++;}
-	void		resetSleepCount() {mSleepCount=0;}
-	uint16_t	getSleepCount() const {return mSleepCount;}
-
-	vmVector3 getPosition() const {return read_Vector3(fX);}
-	vmQuat    getOrientation() const {return read_Quat(fQ);}
-	vmVector3 getLinearVelocity() const {return read_Vector3(fV);}
-	vmVector3 getAngularVelocity() const {return read_Vector3(fOmega);}
-	vmVector3 getDeltaLinearVelocity() const {return read_Vector3(deltaLinearVelocity);}
-	vmVector3 getDeltaAngularVelocity() const {return read_Vector3(deltaAngularVelocity);}
-
-	void setPosition(const vmVector3 &pos) {store_Vector3(pos, fX);}
-	void setLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, fV);}
-	void setAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, fOmega);}
-	void setDeltaLinearVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaLinearVelocity);}
-	void setDeltaAngularVelocity(const vmVector3 &vel) {store_Vector3(vel, deltaAngularVelocity);}
-	void setOrientation(const vmQuat &rot) {store_Quat(rot, fQ);}
-
-	inline void setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal);
-	inline void	setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep);
-	inline	void reset();
-};
-
-inline
-TrbState::TrbState(const uint8_t m, const vmVector3& x, const vmQuat& q, const vmVector3& v, const vmVector3& omega)
-{
-	setMotionType(m);
-	fX[0] = x[0];
-	fX[1] = x[1];
-	fX[2] = x[2];
-	fQ[0] = q[0];
-	fQ[1] = q[1];
-	fQ[2] = q[2];
-	fQ[3] = q[3];
-	fV[0] = v[0];
-	fV[1] = v[1];
-	fV[2] = v[2];
-	fOmega[0] = omega[0];
-	fOmega[1] = omega[1];
-	fOmega[2] = omega[2];
-	contactFilterSelf=contactFilterTarget=0xffff;
-	trbBodyIdx=0;
-	mSleeping = 0;
-	deleted = 0;
-	useSleep = 1;
-	useCcd = 0;
-	useContactCallback = 0;
-	useSleepCallback = 0;
-	mSleepCount=0;
-	linearDamping = 1.0f;
-	angularDamping = 0.99f;
-}
-
-inline void
-TrbState::setIdentity()
-{
-	fX[0] = 0.0f;
-	fX[1] = 0.0f;
-	fX[2] = 0.0f;
-	fQ[0] = 0.0f;
-	fQ[1] = 0.0f;
-	fQ[2] = 0.0f;
-	fQ[3] = 1.0f;
-	fV[0] = 0.0f;
-	fV[1] = 0.0f;
-	fV[2] = 0.0f;
-	fOmega[0] = 0.0f;
-	fOmega[1] = 0.0f;
-	fOmega[2] = 0.0f;
-}
-
-inline void
-TrbState::setZero()
-{
-	fX[0] = 0.0f;
-	fX[1] = 0.0f;
-	fX[2] = 0.0f;
-	fQ[0] = 0.0f;
-	fQ[1] = 0.0f;
-	fQ[2] = 0.0f;
-	fQ[3] = 0.0f;
-	fV[0] = 0.0f;
-	fV[1] = 0.0f;
-	fV[2] = 0.0f;
-	fOmega[0] = 0.0f;
-	fOmega[1] = 0.0f;
-	fOmega[2] = 0.0f;
-}
-
-inline void
-TrbState::setAuxils(const vmVector3 &centerLocal,const vmVector3 &halfLocal)
-{
-	vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
-	vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
-	center[0] = centerW[0];
-	center[1] = centerW[1];
-	center[2] = centerW[2];
-	half[0] = halfW[0];
-	half[1] = halfW[1];
-	half[2] = halfW[2];
-}
-
-inline void
-TrbState::setAuxilsCcd(const vmVector3 &centerLocal,const vmVector3 &halfLocal,float timeStep)
-{
-	vmVector3 centerW = getPosition() + rotate(getOrientation(),centerLocal);
-	vmVector3 halfW = absPerElem(vmMatrix3(getOrientation())) * halfLocal;
-
-	vmVector3 diffvec = getLinearVelocity()*timeStep;
-
-	vmVector3 newCenter = centerW + diffvec;
-	vmVector3 aabbMin = minPerElem(newCenter - halfW,centerW - halfW);
-	vmVector3 aabbMax = maxPerElem(newCenter + halfW,centerW + halfW);
-	
-	centerW = 0.5f * (aabbMin + aabbMax);
-	halfW =0.5f * (aabbMax - aabbMin);
-
-	center[0] = centerW[0];
-	center[1] = centerW[1];
-	center[2] = centerW[2];
-
-	half[0] = halfW[0];
-	half[1] = halfW[1];
-	half[2] = halfW[2];
-}
-
-inline
-void TrbState::reset()
-{
-#if 0
-	mSleepCount = 0;
-	mMotionType = PfxMotionTypeActive;
-	mDeleted = 0;
-	mSleeping = 0;
-	mUseSleep = 1;
-	mUseCcd = 0;
-	mUseContactCallback = 0;
-	mUseSleepCallback = 0;
-	mRigidBodyId = 0;
-	mContactFilterSelf = 0xffffffff;
-	mContactFilterTarget = 0xffffffff;
-	mLinearDamping = 1.0f;
-	mAngularDamping = 0.99f;
-	mPosition = vmVector3(0.0f);
-	mOrientation = vmQuat::identity();
-	mLinearVelocity = vmVector3(0.0f);
-	mAngularVelocity = vmVector3(0.0f);
-#endif
-
-	setMotionType(PfxMotionTypeActive);
-	contactFilterSelf=contactFilterTarget=0xffffffff;
-	deleted = 0;
-	mSleeping = 0;
-	useSleep = 1;
-	trbBodyIdx=0;
-	mSleepCount=0;
-	useCcd = 0;
-	useContactCallback = 0;
-	useSleepCallback = 0;
-	linearDamping = 1.0f;
-	angularDamping = 0.99f;
-}
-
-#endif //BT_TRBSTATEVEC_H__
-
-

data/deps/include/bullet/BulletMultiThreaded/Win32ThreadSupport.h

@@ -1,138 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2007 Erwin Coumans  http://bulletphysics.com
-
-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.
-*/
-
-#include "LinearMath/btScalar.h"
-#include "PlatformDefinitions.h"
-
-#ifdef USE_WIN32_THREADING  //platform specific defines are defined in PlatformDefinitions.h
-
-#ifndef BT_WIN32_THREAD_SUPPORT_H
-#define BT_WIN32_THREAD_SUPPORT_H
-
-#include "LinearMath/btAlignedObjectArray.h"
-
-#include "btThreadSupportInterface.h"
-
-
-typedef void (*Win32ThreadFunc)(void* userPtr,void* lsMemory);
-typedef void* (*Win32lsMemorySetupFunc)();
-
-
-///Win32ThreadSupport helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
-class Win32ThreadSupport : public btThreadSupportInterface 
-{
-public:
-	///placeholder, until libspe2 support is there
-	struct	btSpuStatus
-	{
-		uint32_t	m_taskId;
-		uint32_t	m_commandId;
-		uint32_t	m_status;
-
-		Win32ThreadFunc	m_userThreadFunc;
-		void*	m_userPtr; //for taskDesc etc
-		void*	m_lsMemory; //initialized using Win32LocalStoreMemorySetupFunc
-
-		void*	m_threadHandle; //this one is calling 'Win32ThreadFunc'
-
-		void*	m_eventStartHandle;
-		char	m_eventStartHandleName[32];
-
-		void*	m_eventCompletetHandle;
-		char	m_eventCompletetHandleName[32];
-		
-
-	};
-private:
-
-	btAlignedObjectArray<btSpuStatus>	m_activeSpuStatus;
-	btAlignedObjectArray<void*>			m_completeHandles;
-	
-	int m_maxNumTasks;
-public:
-	///Setup and initialize SPU/CELL/Libspe2
-
-	struct	Win32ThreadConstructionInfo
-	{
-		Win32ThreadConstructionInfo(const char* uniqueName,
-									Win32ThreadFunc userThreadFunc,
-									Win32lsMemorySetupFunc	lsMemoryFunc,
-									int numThreads=1,
-									int threadStackSize=65535
-									)
-									:m_uniqueName(uniqueName),
-									m_userThreadFunc(userThreadFunc),
-									m_lsMemoryFunc(lsMemoryFunc),
-									m_numThreads(numThreads),
-									m_threadStackSize(threadStackSize)
-		{
-
-		}
-
-		const char*				m_uniqueName;
-		Win32ThreadFunc			m_userThreadFunc;
-		Win32lsMemorySetupFunc	m_lsMemoryFunc;
-		int						m_numThreads;
-		int						m_threadStackSize;
-
-	};
-
-
-
-	Win32ThreadSupport(const Win32ThreadConstructionInfo& threadConstructionInfo);
-
-///cleanup/shutdown Libspe2
-	virtual	~Win32ThreadSupport();
-
-	void	startThreads(const Win32ThreadConstructionInfo&	threadInfo);
-
-
-///send messages to SPUs
-	virtual	void sendRequest(uint32_t uiCommand, ppu_address_t uiArgument0, uint32_t uiArgument1);
-
-///check for messages from SPUs
-	virtual	void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
-
-	virtual bool isTaskCompleted(unsigned int *puiArgument0, unsigned int *puiArgument1, int timeOutInMilliseconds);
-
-///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
-	virtual	void startSPU();
-
-///tell the task scheduler we are done with the SPU tasks
-	virtual	void stopSPU();
-
-	virtual	void	setNumTasks(int numTasks)
-	{
-		m_maxNumTasks = numTasks;
-	}
-
-	virtual int getNumTasks() const
-	{
-		return m_maxNumTasks;
-	}
-
-	virtual void*	getThreadLocalMemory(int taskId)
-	{
-		return m_activeSpuStatus[taskId].m_lsMemory;
-	}
-	virtual btBarrier*	createBarrier();
-
-	virtual btCriticalSection* createCriticalSection();
-
-};
-
-#endif //BT_WIN32_THREAD_SUPPORT_H
-
-#endif //USE_WIN32_THREADING

data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h

@@ -1,138 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library, http://bulletphysics.org
-Copyright (C) 2006, 2009 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 BTGPU3DGRIDBROADPHASE_H
-#define BTGPU3DGRIDBROADPHASE_H
-
-//----------------------------------------------------------------------------------------
-
-#include "BulletCollision/BroadphaseCollision/btSimpleBroadphase.h"
-
-#include "btGpu3DGridBroadphaseSharedTypes.h"
-
-//----------------------------------------------------------------------------------------
-
-///The btGpu3DGridBroadphase uses GPU-style code compiled for CPU to compute overlapping pairs
-
-class btGpu3DGridBroadphase : public btSimpleBroadphase
-{
-protected:
-	bool			m_bInitialized;
-    unsigned int	m_numBodies;
-    unsigned int	m_numCells;
-	unsigned int	m_maxPairsPerBody;
-	btScalar		m_cellFactorAABB;
-    unsigned int	m_maxBodiesPerCell;
-	bt3DGridBroadphaseParams m_params;
-	btScalar		m_maxRadius;
-	// CPU data
-    unsigned int*	m_hBodiesHash;
-    unsigned int*	m_hCellStart;
-	unsigned int*	m_hPairBuffStartCurr;
-	bt3DGrid3F1U*		m_hAABB;
-	unsigned int*	m_hPairBuff;
-	unsigned int*	m_hPairScan;
-	unsigned int*	m_hPairOut;
-// large proxies
-	int		m_numLargeHandles;						
-	int		m_maxLargeHandles;						
-	int		m_LastLargeHandleIndex;							
-	btSimpleBroadphaseProxy* m_pLargeHandles;
-	void* m_pLargeHandlesRawPtr;
-	int		m_firstFreeLargeHandle;
-	int allocLargeHandle()
-	{
-		btAssert(m_numLargeHandles < m_maxLargeHandles);
-		int freeLargeHandle = m_firstFreeLargeHandle;
-		m_firstFreeLargeHandle = m_pLargeHandles[freeLargeHandle].GetNextFree();
-		m_numLargeHandles++;
-		if(freeLargeHandle > m_LastLargeHandleIndex)
-		{
-			m_LastLargeHandleIndex = freeLargeHandle;
-		}
-		return freeLargeHandle;
-	}
-	void freeLargeHandle(btSimpleBroadphaseProxy* proxy)
-	{
-		int handle = int(proxy - m_pLargeHandles);
-		btAssert((handle >= 0) && (handle < m_maxHandles));
-		if(handle == m_LastLargeHandleIndex)
-		{
-			m_LastLargeHandleIndex--;
-		}
-		proxy->SetNextFree(m_firstFreeLargeHandle);
-		m_firstFreeLargeHandle = handle;
-		proxy->m_clientObject = 0;
-		m_numLargeHandles--;
-	}
-	bool isLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax);
-	bool isLargeProxy(btBroadphaseProxy* proxy);
-// debug
-	unsigned int	m_numPairsAdded;
-	unsigned int	m_numPairsRemoved;
-	unsigned int	m_numOverflows;
-// 
-public:
-	btGpu3DGridBroadphase(const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
-					   int gridSizeX, int gridSizeY, int gridSizeZ, 
-					   int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
-					   int maxBodiesPerCell = 8,
-					   btScalar cellFactorAABB = btScalar(1.0f));
-	btGpu3DGridBroadphase(	btOverlappingPairCache* overlappingPairCache,
-						const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
-						int gridSizeX, int gridSizeY, int gridSizeZ, 
-						int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
-						int maxBodiesPerCell = 8,
-						btScalar cellFactorAABB = btScalar(1.0f));
-	virtual ~btGpu3DGridBroadphase();
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	virtual btBroadphaseProxy*	createProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr ,short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
-	virtual void	destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback);
-	virtual void	resetPool(btDispatcher* dispatcher);
-
-protected:
-	void _initialize(	const btVector3& worldAabbMin,const btVector3& worldAabbMax, 
-						int gridSizeX, int gridSizeY, int gridSizeZ, 
-						int maxSmallProxies, int maxLargeProxies, int maxPairsPerBody,
-						int maxBodiesPerCell = 8,
-						btScalar cellFactorAABB = btScalar(1.0f));
-	void _finalize();
-	void addPairsToCache(btDispatcher* dispatcher);
-	void addLarge2LargePairsToCache(btDispatcher* dispatcher);
-
-// overrides for CPU version
-	virtual void setParameters(bt3DGridBroadphaseParams* hostParams);
-	virtual void prepareAABB();
-	virtual void calcHashAABB();
-	virtual void sortHash();	
-	virtual void findCellStart();
-	virtual void findOverlappingPairs();
-	virtual void findPairsLarge();
-	virtual void computePairCacheChanges();
-	virtual void scanOverlappingPairBuff();
-	virtual void squeezeOverlappingPairBuff();
-};
-
-//----------------------------------------------------------------------------------------
-
-#endif //BTGPU3DGRIDBROADPHASE_H
-
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------
-//----------------------------------------------------------------------------------------