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

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

@@ -1,116 +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.
-*/
-
-/*
-StackAlloc extracted from GJK-EPA collision solver by Nathanael Presson
-Nov.2006
-*/
-
-#ifndef BT_STACK_ALLOC
-#define BT_STACK_ALLOC
-
-#include "btScalar.h" //for btAssert
-#include "btAlignedAllocator.h"
-
-///The btBlock class is an internal structure for the btStackAlloc memory allocator.
-struct btBlock
-{
-	btBlock*			previous;
-	unsigned char*		address;
-};
-
-///The StackAlloc class provides some fast stack-based memory allocator (LIFO last-in first-out)
-class btStackAlloc
-{
-public:
-
-	btStackAlloc(unsigned int size)	{ ctor();create(size); }
-	~btStackAlloc()		{ destroy(); }
-	
-	inline void		create(unsigned int size)
-	{
-		destroy();
-		data		=  (unsigned char*) btAlignedAlloc(size,16);
-		totalsize	=	size;
-	}
-	inline void		destroy()
-	{
-		btAssert(usedsize==0);
-		//Raise(L"StackAlloc is still in use");
-
-		if(usedsize==0)
-		{
-			if(!ischild && data)		
-				btAlignedFree(data);
-
-			data				=	0;
-			usedsize			=	0;
-		}
-		
-	}
-
-	int	getAvailableMemory() const
-	{
-		return static_cast<int>(totalsize - usedsize);
-	}
-
-	unsigned char*			allocate(unsigned int size)
-	{
-		const unsigned int	nus(usedsize+size);
-		if(nus<totalsize)
-		{
-			usedsize=nus;
-			return(data+(usedsize-size));
-		}
-		btAssert(0);
-		//&& (L"Not enough memory"));
-		
-		return(0);
-	}
-	SIMD_FORCE_INLINE btBlock*		beginBlock()
-	{
-		btBlock*	pb = (btBlock*)allocate(sizeof(btBlock));
-		pb->previous	=	current;
-		pb->address		=	data+usedsize;
-		current			=	pb;
-		return(pb);
-	}
-	SIMD_FORCE_INLINE void		endBlock(btBlock* block)
-	{
-		btAssert(block==current);
-		//Raise(L"Unmatched blocks");
-		if(block==current)
-		{
-			current		=	block->previous;
-			usedsize	=	(unsigned int)((block->address-data)-sizeof(btBlock));
-		}
-	}
-
-private:
-	void		ctor()
-	{
-		data		=	0;
-		totalsize	=	0;
-		usedsize	=	0;
-		current		=	0;
-		ischild		=	false;
-	}
-	unsigned char*		data;
-	unsigned int		totalsize;
-	unsigned int		usedsize;
-	btBlock*	current;
-	bool		ischild;
-};
-
-#endif //BT_STACK_ALLOC

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

@@ -1,307 +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_TRANSFORM_H
-#define BT_TRANSFORM_H
-
-
-#include "btMatrix3x3.h"
-
-#ifdef BT_USE_DOUBLE_PRECISION
-#define btTransformData btTransformDoubleData
-#else
-#define btTransformData btTransformFloatData
-#endif
-
-
-
-
-/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
- *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
-class btTransform {
-	
-  ///Storage for the rotation
-	btMatrix3x3 m_basis;
-  ///Storage for the translation
-	btVector3   m_origin;
-
-public:
-	
-  /**@brief No initialization constructor */
-	btTransform() {}
-  /**@brief Constructor from btQuaternion (optional btVector3 )
-   * @param q Rotation from quaternion 
-   * @param c Translation from Vector (default 0,0,0) */
-	explicit SIMD_FORCE_INLINE btTransform(const btQuaternion& q, 
-		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0))) 
-		: m_basis(q),
-		m_origin(c)
-	{}
-
-  /**@brief Constructor from btMatrix3x3 (optional btVector3)
-   * @param b Rotation from Matrix 
-   * @param c Translation from Vector default (0,0,0)*/
-	explicit SIMD_FORCE_INLINE btTransform(const btMatrix3x3& b, 
-		const btVector3& c = btVector3(btScalar(0), btScalar(0), btScalar(0)))
-		: m_basis(b),
-		m_origin(c)
-	{}
-  /**@brief Copy constructor */
-	SIMD_FORCE_INLINE btTransform (const btTransform& other)
-		: m_basis(other.m_basis),
-		m_origin(other.m_origin)
-	{
-	}
-  /**@brief Assignment Operator */
-	SIMD_FORCE_INLINE btTransform& operator=(const btTransform& other)
-	{
-		m_basis = other.m_basis;
-		m_origin = other.m_origin;
-		return *this;
-	}
-
-
-  /**@brief Set the current transform as the value of the product of two transforms
-   * @param t1 Transform 1
-   * @param t2 Transform 2
-   * This = Transform1 * Transform2 */
-		SIMD_FORCE_INLINE void mult(const btTransform& t1, const btTransform& t2) {
-			m_basis = t1.m_basis * t2.m_basis;
-			m_origin = t1(t2.m_origin);
-		}
-
-/*		void multInverseLeft(const btTransform& t1, const btTransform& t2) {
-			btVector3 v = t2.m_origin - t1.m_origin;
-			m_basis = btMultTransposeLeft(t1.m_basis, t2.m_basis);
-			m_origin = v * t1.m_basis;
-		}
-		*/
-
-/**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator()(const btVector3& x) const
-	{
-		return btVector3(m_basis[0].dot(x) + m_origin.x(), 
-			m_basis[1].dot(x) + m_origin.y(), 
-			m_basis[2].dot(x) + m_origin.z());
-	}
-
-  /**@brief Return the transform of the vector */
-	SIMD_FORCE_INLINE btVector3 operator*(const btVector3& x) const
-	{
-		return (*this)(x);
-	}
-
-  /**@brief Return the transform of the btQuaternion */
-	SIMD_FORCE_INLINE btQuaternion operator*(const btQuaternion& q) const
-	{
-		return getRotation() * q;
-	}
-
-  /**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE btMatrix3x3&       getBasis()          { return m_basis; }
-  /**@brief Return the basis matrix for the rotation */
-	SIMD_FORCE_INLINE const btMatrix3x3& getBasis()    const { return m_basis; }
-
-  /**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE btVector3&         getOrigin()         { return m_origin; }
-  /**@brief Return the origin vector translation */
-	SIMD_FORCE_INLINE const btVector3&   getOrigin()   const { return m_origin; }
-
-  /**@brief Return a quaternion representing the rotation */
-	btQuaternion getRotation() const { 
-		btQuaternion q;
-		m_basis.getRotation(q);
-		return q;
-	}
-	
-	
-  /**@brief Set from an array 
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void setFromOpenGLMatrix(const btScalar *m)
-	{
-		m_basis.setFromOpenGLSubMatrix(m);
-		m_origin.setValue(m[12],m[13],m[14]);
-	}
-
-  /**@brief Fill an array representation
-   * @param m A pointer to a 15 element array (12 rotation(row major padded on the right by 1), and 3 translation */
-	void getOpenGLMatrix(btScalar *m) const 
-	{
-		m_basis.getOpenGLSubMatrix(m);
-		m[12] = m_origin.x();
-		m[13] = m_origin.y();
-		m[14] = m_origin.z();
-		m[15] = btScalar(1.0);
-	}
-
-  /**@brief Set the translational element
-   * @param origin The vector to set the translation to */
-	SIMD_FORCE_INLINE void setOrigin(const btVector3& origin) 
-	{ 
-		m_origin = origin;
-	}
-
-	SIMD_FORCE_INLINE btVector3 invXform(const btVector3& inVec) const;
-
-
-  /**@brief Set the rotational element by btMatrix3x3 */
-	SIMD_FORCE_INLINE void setBasis(const btMatrix3x3& basis)
-	{ 
-		m_basis = basis;
-	}
-
-  /**@brief Set the rotational element by btQuaternion */
-	SIMD_FORCE_INLINE void setRotation(const btQuaternion& q)
-	{
-		m_basis.setRotation(q);
-	}
-
-
-  /**@brief Set this transformation to the identity */
-	void setIdentity()
-	{
-		m_basis.setIdentity();
-		m_origin.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
-	}
-
-  /**@brief Multiply this Transform by another(this = this * another) 
-   * @param t The other transform */
-	btTransform& operator*=(const btTransform& t) 
-	{
-		m_origin += m_basis * t.m_origin;
-		m_basis *= t.m_basis;
-		return *this;
-	}
-
-  /**@brief Return the inverse of this transform */
-	btTransform inverse() const
-	{ 
-		btMatrix3x3 inv = m_basis.transpose();
-		return btTransform(inv, inv * -m_origin);
-	}
-
-  /**@brief Return the inverse of this transform times the other transform
-   * @param t The other transform 
-   * return this.inverse() * the other */
-	btTransform inverseTimes(const btTransform& t) const;  
-
-  /**@brief Return the product of this transform and the other */
-	btTransform operator*(const btTransform& t) const;
-
-  /**@brief Return an identity transform */
-	static const btTransform&	getIdentity()
-	{
-		static const btTransform identityTransform(btMatrix3x3::getIdentity());
-		return identityTransform;
-	}
-
-	void	serialize(struct	btTransformData& dataOut) const;
-
-	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
-
-	void	deSerialize(const struct	btTransformData& dataIn);
-
-	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
-
-	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
-
-};
-
-
-SIMD_FORCE_INLINE btVector3
-btTransform::invXform(const btVector3& inVec) const
-{
-	btVector3 v = inVec - m_origin;
-	return (m_basis.transpose() * v);
-}
-
-SIMD_FORCE_INLINE btTransform 
-btTransform::inverseTimes(const btTransform& t) const  
-{
-	btVector3 v = t.getOrigin() - m_origin;
-		return btTransform(m_basis.transposeTimes(t.m_basis),
-			v * m_basis);
-}
-
-SIMD_FORCE_INLINE btTransform 
-btTransform::operator*(const btTransform& t) const
-{
-	return btTransform(m_basis * t.m_basis, 
-		(*this)(t.m_origin));
-}
-
-/**@brief Test if two transforms have all elements equal */
-SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
-{
-   return ( t1.getBasis()  == t2.getBasis() &&
-            t1.getOrigin() == t2.getOrigin() );
-}
-
-
-///for serialization
-struct	btTransformFloatData
-{
-	btMatrix3x3FloatData	m_basis;
-	btVector3FloatData	m_origin;
-};
-
-struct	btTransformDoubleData
-{
-	btMatrix3x3DoubleData	m_basis;
-	btVector3DoubleData	m_origin;
-};
-
-
-
-SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
-{
-	m_basis.serialize(dataOut.m_basis);
-	m_origin.serialize(dataOut.m_origin);
-}
-
-SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
-{
-	m_basis.serializeFloat(dataOut.m_basis);
-	m_origin.serializeFloat(dataOut.m_origin);
-}
-
-
-SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
-{
-	m_basis.deSerialize(dataIn.m_basis);
-	m_origin.deSerialize(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
-{
-	m_basis.deSerializeFloat(dataIn.m_basis);
-	m_origin.deSerializeFloat(dataIn.m_origin);
-}
-
-SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
-{
-	m_basis.deSerializeDouble(dataIn.m_basis);
-	m_origin.deSerializeDouble(dataIn.m_origin);
-}
-
-
-#endif //BT_TRANSFORM_H
-
-
-
-
-
-

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

@@ -1,228 +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_TRANSFORM_UTIL_H
-#define BT_TRANSFORM_UTIL_H
-
-#include "btTransform.h"
-#define ANGULAR_MOTION_THRESHOLD btScalar(0.5)*SIMD_HALF_PI
-
-
-
-
-SIMD_FORCE_INLINE btVector3 btAabbSupport(const btVector3& halfExtents,const btVector3& supportDir)
-{
-	return btVector3(supportDir.x() < btScalar(0.0) ? -halfExtents.x() : halfExtents.x(),
-      supportDir.y() < btScalar(0.0) ? -halfExtents.y() : halfExtents.y(),
-      supportDir.z() < btScalar(0.0) ? -halfExtents.z() : halfExtents.z()); 
-}
-
-
-
-
-
-
-/// Utils related to temporal transforms
-class btTransformUtil
-{
-
-public:
-
-	static void integrateTransform(const btTransform& curTrans,const btVector3& linvel,const btVector3& angvel,btScalar timeStep,btTransform& predictedTransform)
-	{
-		predictedTransform.setOrigin(curTrans.getOrigin() + linvel * timeStep);
-//	#define QUATERNION_DERIVATIVE
-	#ifdef QUATERNION_DERIVATIVE
-		btQuaternion predictedOrn = curTrans.getRotation();
-		predictedOrn += (angvel * predictedOrn) * (timeStep * btScalar(0.5));
-		predictedOrn.normalize();
-	#else
-		//Exponential map
-		//google for "Practical Parameterization of Rotations Using the Exponential Map", F. Sebastian Grassia
-
-		btVector3 axis;
-		btScalar	fAngle = angvel.length(); 
-		//limit the angular motion
-		if (fAngle*timeStep > ANGULAR_MOTION_THRESHOLD)
-		{
-			fAngle = ANGULAR_MOTION_THRESHOLD / timeStep;
-		}
-
-		if ( fAngle < btScalar(0.001) )
-		{
-			// use Taylor's expansions of sync function
-			axis   = angvel*( btScalar(0.5)*timeStep-(timeStep*timeStep*timeStep)*(btScalar(0.020833333333))*fAngle*fAngle );
-		}
-		else
-		{
-			// sync(fAngle) = sin(c*fAngle)/t
-			axis   = angvel*( btSin(btScalar(0.5)*fAngle*timeStep)/fAngle );
-		}
-		btQuaternion dorn (axis.x(),axis.y(),axis.z(),btCos( fAngle*timeStep*btScalar(0.5) ));
-		btQuaternion orn0 = curTrans.getRotation();
-
-		btQuaternion predictedOrn = dorn * orn0;
-		predictedOrn.normalize();
-	#endif
-		predictedTransform.setRotation(predictedOrn);
-	}
-
-	static void	calculateVelocityQuaternion(const btVector3& pos0,const btVector3& pos1,const btQuaternion& orn0,const btQuaternion& orn1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
-	{
-		linVel = (pos1 - pos0) / timeStep;
-		btVector3 axis;
-		btScalar  angle;
-		if (orn0 != orn1)
-		{
-			calculateDiffAxisAngleQuaternion(orn0,orn1,axis,angle);
-			angVel = axis * angle / timeStep;
-		} else
-		{
-			angVel.setValue(0,0,0);
-		}
-	}
-
-	static void calculateDiffAxisAngleQuaternion(const btQuaternion& orn0,const btQuaternion& orn1a,btVector3& axis,btScalar& angle)
-	{
-		btQuaternion orn1 = orn0.nearest(orn1a);
-		btQuaternion dorn = orn1 * orn0.inverse();
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-
-	static void	calculateVelocity(const btTransform& transform0,const btTransform& transform1,btScalar timeStep,btVector3& linVel,btVector3& angVel)
-	{
-		linVel = (transform1.getOrigin() - transform0.getOrigin()) / timeStep;
-		btVector3 axis;
-		btScalar  angle;
-		calculateDiffAxisAngle(transform0,transform1,axis,angle);
-		angVel = axis * angle / timeStep;
-	}
-
-	static void calculateDiffAxisAngle(const btTransform& transform0,const btTransform& transform1,btVector3& axis,btScalar& angle)
-	{
-		btMatrix3x3 dmat = transform1.getBasis() * transform0.getBasis().inverse();
-		btQuaternion dorn;
-		dmat.getRotation(dorn);
-
-		///floating point inaccuracy can lead to w component > 1..., which breaks 
-		dorn.normalize();
-		
-		angle = dorn.getAngle();
-		axis = btVector3(dorn.x(),dorn.y(),dorn.z());
-		axis[3] = btScalar(0.);
-		//check for axis length
-		btScalar len = axis.length2();
-		if (len < SIMD_EPSILON*SIMD_EPSILON)
-			axis = btVector3(btScalar(1.),btScalar(0.),btScalar(0.));
-		else
-			axis /= btSqrt(len);
-	}
-
-};
-
-
-///The btConvexSeparatingDistanceUtil can help speed up convex collision detection 
-///by conservatively updating a cached separating distance/vector instead of re-calculating the closest distance
-class	btConvexSeparatingDistanceUtil
-{
-	btQuaternion	m_ornA;
-	btQuaternion	m_ornB;
-	btVector3	m_posA;
-	btVector3	m_posB;
-	
-	btVector3	m_separatingNormal;
-
-	btScalar	m_boundingRadiusA;
-	btScalar	m_boundingRadiusB;
-	btScalar	m_separatingDistance;
-
-public:
-
-	btConvexSeparatingDistanceUtil(btScalar	boundingRadiusA,btScalar	boundingRadiusB)
-		:m_boundingRadiusA(boundingRadiusA),
-		m_boundingRadiusB(boundingRadiusB),
-		m_separatingDistance(0.f)
-	{
-	}
-
-	btScalar	getConservativeSeparatingDistance()
-	{
-		return m_separatingDistance;
-	}
-
-	void	updateSeparatingDistance(const btTransform& transA,const btTransform& transB)
-	{
-		const btVector3& toPosA = transA.getOrigin();
-		const btVector3& toPosB = transB.getOrigin();
-		btQuaternion toOrnA = transA.getRotation();
-		btQuaternion toOrnB = transB.getRotation();
-
-		if (m_separatingDistance>0.f)
-		{
-			
-
-			btVector3 linVelA,angVelA,linVelB,angVelB;
-			btTransformUtil::calculateVelocityQuaternion(m_posA,toPosA,m_ornA,toOrnA,btScalar(1.),linVelA,angVelA);
-			btTransformUtil::calculateVelocityQuaternion(m_posB,toPosB,m_ornB,toOrnB,btScalar(1.),linVelB,angVelB);
-			btScalar maxAngularProjectedVelocity = angVelA.length() * m_boundingRadiusA + angVelB.length() * m_boundingRadiusB;
-			btVector3 relLinVel = (linVelB-linVelA);
-			btScalar relLinVelocLength = relLinVel.dot(m_separatingNormal);
-			if (relLinVelocLength<0.f)
-			{
-				relLinVelocLength = 0.f;
-			}
-	
-			btScalar	projectedMotion = maxAngularProjectedVelocity +relLinVelocLength;
-			m_separatingDistance -= projectedMotion;
-		}
-	
-		m_posA = toPosA;
-		m_posB = toPosB;
-		m_ornA = toOrnA;
-		m_ornB = toOrnB;
-	}
-
-	void	initSeparatingDistance(const btVector3& separatingVector,btScalar separatingDistance,const btTransform& transA,const btTransform& transB)
-	{
-		m_separatingDistance = separatingDistance;
-
-		if (m_separatingDistance>0.f)
-		{
-			m_separatingNormal = separatingVector;
-			
-			const btVector3& toPosA = transA.getOrigin();
-			const btVector3& toPosB = transB.getOrigin();
-			btQuaternion toOrnA = transA.getRotation();
-			btQuaternion toOrnB = transB.getRotation();
-			m_posA = toPosA;
-			m_posB = toPosB;
-			m_ornA = toOrnA;
-			m_ornB = toOrnB;
-		}
-	}
-
-};
-
-
-#endif //BT_TRANSFORM_UTIL_H
-