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

data/deps/include/bullet/LinearMath/btIDebugDraw.h

@@ -1,418 +0,0 @@
-/*
-Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
-
-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_IDEBUG_DRAW__H
-#define BT_IDEBUG_DRAW__H
-
-#include "btVector3.h"
-#include "btTransform.h"
-
-
-///The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
-///Typical use case: create a debug drawer object, and assign it to a btCollisionWorld or btDynamicsWorld using setDebugDrawer and call debugDrawWorld.
-///A class that implements the btIDebugDraw interface has to implement the drawLine method at a minimum.
-///For color arguments the X,Y,Z components refer to Red, Green and Blue each in the range [0..1]
-class	btIDebugDraw
-{
-	public:
-
-	enum	DebugDrawModes
-	{
-		DBG_NoDebug=0,
-		DBG_DrawWireframe = 1,
-		DBG_DrawAabb=2,
-		DBG_DrawFeaturesText=4,
-		DBG_DrawContactPoints=8,
-		DBG_NoDeactivation=16,
-		DBG_NoHelpText = 32,
-		DBG_DrawText=64,
-		DBG_ProfileTimings = 128,
-		DBG_EnableSatComparison = 256,
-		DBG_DisableBulletLCP = 512,
-		DBG_EnableCCD = 1024,
-		DBG_DrawConstraints = (1 << 11),
-		DBG_DrawConstraintLimits = (1 << 12),
-		DBG_FastWireframe = (1<<13),
-        DBG_DrawNormals = (1<<14),
-		DBG_MAX_DEBUG_DRAW_MODE
-	};
-
-	virtual ~btIDebugDraw() {};
-
-	virtual void	drawLine(const btVector3& from,const btVector3& to,const btVector3& color)=0;
-		
-	virtual void    drawLine(const btVector3& from,const btVector3& to, const btVector3& fromColor, const btVector3& toColor)
-	{
-        (void) toColor;
-		drawLine (from, to, fromColor);
-	}
-
-	virtual void	drawSphere(btScalar radius, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 start = transform.getOrigin();
-
-		const btVector3 xoffs = transform.getBasis() * btVector3(radius,0,0);
-		const btVector3 yoffs = transform.getBasis() * btVector3(0,radius,0);
-		const btVector3 zoffs = transform.getBasis() * btVector3(0,0,radius);
-
-		// XY 
-		drawLine(start-xoffs, start+yoffs, color);
-		drawLine(start+yoffs, start+xoffs, color);
-		drawLine(start+xoffs, start-yoffs, color);
-		drawLine(start-yoffs, start-xoffs, color);
-
-		// XZ
-		drawLine(start-xoffs, start+zoffs, color);
-		drawLine(start+zoffs, start+xoffs, color);
-		drawLine(start+xoffs, start-zoffs, color);
-		drawLine(start-zoffs, start-xoffs, color);
-
-		// YZ
-		drawLine(start-yoffs, start+zoffs, color);
-		drawLine(start+zoffs, start+yoffs, color);
-		drawLine(start+yoffs, start-zoffs, color);
-		drawLine(start-zoffs, start-yoffs, color);
-	}
-	
-	virtual void	drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
-	{
-		btTransform tr;
-		tr.setIdentity();
-		tr.setOrigin(p);
-		drawSphere(radius,tr,color);
-	}
-	
-	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& /*n0*/,const btVector3& /*n1*/,const btVector3& /*n2*/,const btVector3& color, btScalar alpha)
-	{
-		drawTriangle(v0,v1,v2,color,alpha);
-	}
-	virtual	void	drawTriangle(const btVector3& v0,const btVector3& v1,const btVector3& v2,const btVector3& color, btScalar /*alpha*/)
-	{
-		drawLine(v0,v1,color);
-		drawLine(v1,v2,color);
-		drawLine(v2,v0,color);
-	}
-
-	virtual void	drawContactPoint(const btVector3& PointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)=0;
-
-	virtual void	reportErrorWarning(const char* warningString) = 0;
-
-	virtual void	draw3dText(const btVector3& location,const char* textString) = 0;
-	
-	virtual void	setDebugMode(int debugMode) =0;
-	
-	virtual int		getDebugMode() const = 0;
-
-	virtual void drawAabb(const btVector3& from,const btVector3& to,const btVector3& color)
-	{
-
-		btVector3 halfExtents = (to-from)* 0.5f;
-		btVector3 center = (to+from) *0.5f;
-		int i,j;
-
-		btVector3 edgecoord(1.f,1.f,1.f),pa,pb;
-		for (i=0;i<4;i++)
-		{
-			for (j=0;j<3;j++)
-			{
-				pa = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],		
-					edgecoord[2]*halfExtents[2]);
-				pa+=center;
-
-				int othercoord = j%3;
-				edgecoord[othercoord]*=-1.f;
-				pb = btVector3(edgecoord[0]*halfExtents[0], edgecoord[1]*halfExtents[1],	
-					edgecoord[2]*halfExtents[2]);
-				pb+=center;
-
-				drawLine(pa,pb,color);
-			}
-			edgecoord = btVector3(-1.f,-1.f,-1.f);
-			if (i<3)
-				edgecoord[i]*=-1.f;
-		}
-	}
-	virtual void drawTransform(const btTransform& transform, btScalar orthoLen)
-	{
-		btVector3 start = transform.getOrigin();
-		drawLine(start, start+transform.getBasis() * btVector3(orthoLen, 0, 0), btVector3(0.7f,0,0));
-		drawLine(start, start+transform.getBasis() * btVector3(0, orthoLen, 0), btVector3(0,0.7f,0));
-		drawLine(start, start+transform.getBasis() * btVector3(0, 0, orthoLen), btVector3(0,0,0.7f));
-	}
-
-	virtual void drawArc(const btVector3& center, const btVector3& normal, const btVector3& axis, btScalar radiusA, btScalar radiusB, btScalar minAngle, btScalar maxAngle, 
-				const btVector3& color, bool drawSect, btScalar stepDegrees = btScalar(10.f))
-	{
-		const btVector3& vx = axis;
-		btVector3 vy = normal.cross(axis);
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		int nSteps = (int)((maxAngle - minAngle) / step);
-		if(!nSteps) nSteps = 1;
-		btVector3 prev = center + radiusA * vx * btCos(minAngle) + radiusB * vy * btSin(minAngle);
-		if(drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-		for(int i = 1; i <= nSteps; i++)
-		{
-			btScalar angle = minAngle + (maxAngle - minAngle) * btScalar(i) / btScalar(nSteps);
-			btVector3 next = center + radiusA * vx * btCos(angle) + radiusB * vy * btSin(angle);
-			drawLine(prev, next, color);
-			prev = next;
-		}
-		if(drawSect)
-		{
-			drawLine(center, prev, color);
-		}
-	}
-	virtual void drawSpherePatch(const btVector3& center, const btVector3& up, const btVector3& axis, btScalar radius, 
-		btScalar minTh, btScalar maxTh, btScalar minPs, btScalar maxPs, const btVector3& color, btScalar stepDegrees = btScalar(10.f))
-	{
-		btVector3 vA[74];
-		btVector3 vB[74];
-		btVector3 *pvA = vA, *pvB = vB, *pT;
-		btVector3 npole = center + up * radius;
-		btVector3 spole = center - up * radius;
-		btVector3 arcStart;
-		btScalar step = stepDegrees * SIMD_RADS_PER_DEG;
-		const btVector3& kv = up;
-		const btVector3& iv = axis;
-		btVector3 jv = kv.cross(iv);
-		bool drawN = false;
-		bool drawS = false;
-		if(minTh <= -SIMD_HALF_PI)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			drawN = true;
-		}
-		if(maxTh >= SIMD_HALF_PI)
-		{
-			maxTh = SIMD_HALF_PI - step;
-			drawS = true;
-		}
-		if(minTh > maxTh)
-		{
-			minTh = -SIMD_HALF_PI + step;
-			maxTh =  SIMD_HALF_PI - step;
-			drawN = drawS = true;
-		}
-		int n_hor = (int)((maxTh - minTh) / step) + 1;
-		if(n_hor < 2) n_hor = 2;
-		btScalar step_h = (maxTh - minTh) / btScalar(n_hor - 1);
-		bool isClosed = false;
-		if(minPs > maxPs)
-		{
-			minPs = -SIMD_PI + step;
-			maxPs =  SIMD_PI;
-			isClosed = true;
-		}
-		else if((maxPs - minPs) >= SIMD_PI * btScalar(2.f))
-		{
-			isClosed = true;
-		}
-		else
-		{
-			isClosed = false;
-		}
-		int n_vert = (int)((maxPs - minPs) / step) + 1;
-		if(n_vert < 2) n_vert = 2;
-		btScalar step_v = (maxPs - minPs) / btScalar(n_vert - 1);
-		for(int i = 0; i < n_hor; i++)
-		{
-			btScalar th = minTh + btScalar(i) * step_h;
-			btScalar sth = radius * btSin(th);
-			btScalar cth = radius * btCos(th);
-			for(int j = 0; j < n_vert; j++)
-			{
-				btScalar psi = minPs + btScalar(j) * step_v;
-				btScalar sps = btSin(psi);
-				btScalar cps = btCos(psi);
-				pvB[j] = center + cth * cps * iv + cth * sps * jv + sth * kv;
-				if(i)
-				{
-					drawLine(pvA[j], pvB[j], color);
-				}
-				else if(drawS)
-				{
-					drawLine(spole, pvB[j], color);
-				}
-				if(j)
-				{
-					drawLine(pvB[j-1], pvB[j], color);
-				}
-				else
-				{
-					arcStart = pvB[j];
-				}
-				if((i == (n_hor - 1)) && drawN)
-				{
-					drawLine(npole, pvB[j], color);
-				}
-				if(isClosed)
-				{
-					if(j == (n_vert-1))
-					{
-						drawLine(arcStart, pvB[j], color);
-					}
-				}
-				else
-				{
-					if(((!i) || (i == (n_hor-1))) && ((!j) || (j == (n_vert-1))))
-					{
-						drawLine(center, pvB[j], color);
-					}
-				}
-			}
-			pT = pvA; pvA = pvB; pvB = pT;
-		}
-	}
-	
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btVector3& color)
-	{
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMin[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMin[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMin[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMin[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMin[1], bbMax[2]), btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMax[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(btVector3(bbMin[0], bbMax[1], bbMax[2]), btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-	virtual void drawBox(const btVector3& bbMin, const btVector3& bbMax, const btTransform& trans, const btVector3& color)
-	{
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMin[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMin[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMin[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMin[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMin[1], bbMax[2]), trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMax[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), color);
-		drawLine(trans * btVector3(bbMin[0], bbMax[1], bbMax[2]), trans * btVector3(bbMin[0], bbMin[1], bbMax[2]), color);
-	}
-
-	virtual void drawCapsule(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 capStart(0.f,0.f,0.f);
-		capStart[upAxis] = -halfHeight;
-
-		btVector3 capEnd(0.f,0.f,0.f);
-		capEnd[upAxis] = halfHeight;
-
-		// Draw the ends
-		{
-
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capStart;
-			drawSphere(radius, childTransform, color);
-		}
-
-		{
-			btTransform childTransform = transform;
-			childTransform.getOrigin() = transform * capEnd;
-			drawSphere(radius, childTransform, color);
-		}
-
-		// Draw some additional lines
-		btVector3 start = transform.getOrigin();
-
-		capStart[(upAxis+1)%3] = radius;
-		capEnd[(upAxis+1)%3] = radius;
-		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
-		capStart[(upAxis+1)%3] = -radius;
-		capEnd[(upAxis+1)%3] = -radius;
-		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
-
-		capStart[(upAxis+1)%3] = 0.f;
-		capEnd[(upAxis+1)%3] = 0.f;
-
-		capStart[(upAxis+2)%3] = radius;
-		capEnd[(upAxis+2)%3] = radius;
-		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
-		capStart[(upAxis+2)%3] = -radius;
-		capEnd[(upAxis+2)%3] = -radius;
-		drawLine(start+transform.getBasis() * capStart,start+transform.getBasis() * capEnd, color);
-	}
-
-	virtual void drawCylinder(btScalar radius, btScalar halfHeight, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 start = transform.getOrigin();
-		btVector3	offsetHeight(0,0,0);
-		offsetHeight[upAxis] = halfHeight;
-		btVector3	offsetRadius(0,0,0);
-		offsetRadius[(upAxis+1)%3] = radius;
-		drawLine(start+transform.getBasis() * (offsetHeight+offsetRadius),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight-offsetRadius),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
-
-		// Drawing top and bottom caps of the cylinder
-		btVector3 yaxis(0,0,0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0,0,0);
-		xaxis[(upAxis+1)%3] = btScalar(1.0);
-		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
-		drawArc(start+transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,btScalar(10.0));
-	}
-
-	virtual void drawCone(btScalar radius, btScalar height, int upAxis, const btTransform& transform, const btVector3& color)
-	{
-
-		btVector3 start = transform.getOrigin();
-
-		btVector3	offsetHeight(0,0,0);
-		offsetHeight[upAxis] = height * btScalar(0.5);
-		btVector3	offsetRadius(0,0,0);
-		offsetRadius[(upAxis+1)%3] = radius;
-		btVector3	offset2Radius(0,0,0);
-		offset2Radius[(upAxis+2)%3] = radius;
-
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offsetRadius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offsetRadius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight+offset2Radius),color);
-		drawLine(start+transform.getBasis() * (offsetHeight),start+transform.getBasis() * (-offsetHeight-offset2Radius),color);
-
-		// Drawing the base of the cone
-		btVector3 yaxis(0,0,0);
-		yaxis[upAxis] = btScalar(1.0);
-		btVector3 xaxis(0,0,0);
-		xaxis[(upAxis+1)%3] = btScalar(1.0);
-		drawArc(start-transform.getBasis()*(offsetHeight),transform.getBasis()*yaxis,transform.getBasis()*xaxis,radius,radius,0,SIMD_2_PI,color,false,10.0);
-	}
-
-	virtual void drawPlane(const btVector3& planeNormal, btScalar planeConst, const btTransform& transform, const btVector3& color)
-	{
-		btVector3 planeOrigin = planeNormal * planeConst;
-		btVector3 vec0,vec1;
-		btPlaneSpace1(planeNormal,vec0,vec1);
-		btScalar vecLen = 100.f;
-		btVector3 pt0 = planeOrigin + vec0*vecLen;
-		btVector3 pt1 = planeOrigin - vec0*vecLen;
-		btVector3 pt2 = planeOrigin + vec1*vecLen;
-		btVector3 pt3 = planeOrigin - vec1*vecLen;
-		drawLine(transform*pt0,transform*pt1,color);
-		drawLine(transform*pt2,transform*pt3,color);
-	}
-};
-
-
-#endif //BT_IDEBUG_DRAW__H
-

data/deps/include/bullet/LinearMath/btList.h

@@ -1,73 +0,0 @@
-/*
-Copyright (c) 2003-2006 Gino van den Bergen / 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_GEN_LIST_H
-#define BT_GEN_LIST_H
-
-class btGEN_Link {
-public:
-    btGEN_Link() : m_next(0), m_prev(0) {}
-    btGEN_Link(btGEN_Link *next, btGEN_Link *prev) : m_next(next), m_prev(prev) {}
-    
-    btGEN_Link *getNext() const { return m_next; }  
-    btGEN_Link *getPrev() const { return m_prev; }  
-
-    bool isHead() const { return m_prev == 0; }
-    bool isTail() const { return m_next == 0; }
-
-    void insertBefore(btGEN_Link *link) {
-        m_next         = link;
-        m_prev         = link->m_prev;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void insertAfter(btGEN_Link *link) {
-        m_next         = link->m_next;
-        m_prev         = link;
-        m_next->m_prev = this;
-        m_prev->m_next = this;
-    } 
-
-    void remove() { 
-        m_next->m_prev = m_prev; 
-        m_prev->m_next = m_next;
-    }
-
-private:  
-    btGEN_Link  *m_next;
-    btGEN_Link  *m_prev;
-};
-
-class btGEN_List {
-public:
-    btGEN_List() : m_head(&m_tail, 0), m_tail(0, &m_head) {}
-
-    btGEN_Link *getHead() const { return m_head.getNext(); } 
-    btGEN_Link *getTail() const { return m_tail.getPrev(); } 
-
-    void addHead(btGEN_Link *link) { link->insertAfter(&m_head); }
-    void addTail(btGEN_Link *link) { link->insertBefore(&m_tail); }
-    
-private:
-    btGEN_Link m_head;
-    btGEN_Link m_tail;
-};
-
-#endif //BT_GEN_LIST_H
-
-
-