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

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h

@@ -1,146 +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.
-*/
-
-///btDbvtBroadphase implementation by Nathanael Presson
-#ifndef BT_DBVT_BROADPHASE_H
-#define BT_DBVT_BROADPHASE_H
-
-#include "BulletCollision/BroadphaseCollision/btDbvt.h"
-#include "BulletCollision/BroadphaseCollision/btOverlappingPairCache.h"
-
-//
-// Compile time config
-//
-
-#define	DBVT_BP_PROFILE					0
-//#define DBVT_BP_SORTPAIRS				1
-#define DBVT_BP_PREVENTFALSEUPDATE		0
-#define DBVT_BP_ACCURATESLEEPING		0
-#define DBVT_BP_ENABLE_BENCHMARK		0
-#define DBVT_BP_MARGIN					(btScalar)0.05
-
-#if DBVT_BP_PROFILE
-#define	DBVT_BP_PROFILING_RATE	256
-#include "LinearMath/btQuickprof.h"
-#endif
-
-//
-// btDbvtProxy
-//
-struct btDbvtProxy : btBroadphaseProxy
-{
-	/* Fields		*/ 
-	//btDbvtAabbMm	aabb;
-	btDbvtNode*		leaf;
-	btDbvtProxy*	links[2];
-	int				stage;
-	/* ctor			*/ 
-	btDbvtProxy(const btVector3& aabbMin,const btVector3& aabbMax,void* userPtr,short int collisionFilterGroup, short int collisionFilterMask) :
-	btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask)
-	{
-		links[0]=links[1]=0;
-	}
-};
-
-typedef btAlignedObjectArray<btDbvtProxy*>	btDbvtProxyArray;
-
-///The btDbvtBroadphase implements a broadphase using two dynamic AABB bounding volume hierarchies/trees (see btDbvt).
-///One tree is used for static/non-moving objects, and another tree is used for dynamic objects. Objects can move from one tree to the other.
-///This is a very fast broadphase, especially for very dynamic worlds where many objects are moving. Its insert/add and remove of objects is generally faster than the sweep and prune broadphases btAxisSweep3 and bt32BitAxisSweep3.
-struct	btDbvtBroadphase : btBroadphaseInterface
-{
-	/* Config		*/ 
-	enum	{
-		DYNAMIC_SET			=	0,	/* Dynamic set index	*/ 
-		FIXED_SET			=	1,	/* Fixed set index		*/ 
-		STAGECOUNT			=	2	/* Number of stages		*/ 
-	};
-	/* Fields		*/ 
-	btDbvt					m_sets[2];					// Dbvt sets
-	btDbvtProxy*			m_stageRoots[STAGECOUNT+1];	// Stages list
-	btOverlappingPairCache*	m_paircache;				// Pair cache
-	btScalar				m_prediction;				// Velocity prediction
-	int						m_stageCurrent;				// Current stage
-	int						m_fupdates;					// % of fixed updates per frame
-	int						m_dupdates;					// % of dynamic updates per frame
-	int						m_cupdates;					// % of cleanup updates per frame
-	int						m_newpairs;					// Number of pairs created
-	int						m_fixedleft;				// Fixed optimization left
-	unsigned				m_updates_call;				// Number of updates call
-	unsigned				m_updates_done;				// Number of updates done
-	btScalar				m_updates_ratio;			// m_updates_done/m_updates_call
-	int						m_pid;						// Parse id
-	int						m_cid;						// Cleanup index
-	int						m_gid;						// Gen id
-	bool					m_releasepaircache;			// Release pair cache on delete
-	bool					m_deferedcollide;			// Defere dynamic/static collision to collide call
-	bool					m_needcleanup;				// Need to run cleanup?
-#if DBVT_BP_PROFILE
-	btClock					m_clock;
-	struct	{
-		unsigned long		m_total;
-		unsigned long		m_ddcollide;
-		unsigned long		m_fdcollide;
-		unsigned long		m_cleanup;
-		unsigned long		m_jobcount;
-	}				m_profiling;
-#endif
-	/* Methods		*/ 
-	btDbvtBroadphase(btOverlappingPairCache* paircache=0);
-	~btDbvtBroadphase();
-	void							collide(btDispatcher* dispatcher);
-	void							optimize();
-	
-	/* btBroadphaseInterface Implementation	*/
-	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					setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* dispatcher);
-	virtual void					rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback, const btVector3& aabbMin=btVector3(0,0,0), const btVector3& aabbMax = btVector3(0,0,0));
-	virtual void					aabbTest(const btVector3& aabbMin, const btVector3& aabbMax, btBroadphaseAabbCallback& callback);
-
-	virtual void					getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-	virtual	void					calculateOverlappingPairs(btDispatcher* dispatcher);
-	virtual	btOverlappingPairCache*	getOverlappingPairCache();
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const;
-	virtual	void					getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const;
-	virtual	void					printStats();
-
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
-	void	performDeferredRemoval(btDispatcher* dispatcher);
-	
-	void	setVelocityPrediction(btScalar prediction)
-	{
-		m_prediction = prediction;
-	}
-	btScalar getVelocityPrediction() const
-	{
-		return m_prediction;
-	}
-
-	///this setAabbForceUpdate is similar to setAabb but always forces the aabb update. 
-	///it is not part of the btBroadphaseInterface but specific to btDbvtBroadphase.
-	///it bypasses certain optimizations that prevent aabb updates (when the aabb shrinks), see
-	///http://code.google.com/p/bullet/issues/detail?id=223
-	void							setAabbForceUpdate(		btBroadphaseProxy* absproxy,const btVector3& aabbMin,const btVector3& aabbMax,btDispatcher* /*dispatcher*/);
-
-	static void						benchmark(btBroadphaseInterface*);
-
-
-};
-
-#endif

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h

@@ -1,110 +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_DISPATCHER_H
-#define BT_DISPATCHER_H
-#include "LinearMath/btScalar.h"
-
-class btCollisionAlgorithm;
-struct btBroadphaseProxy;
-class btRigidBody;
-class	btCollisionObject;
-class btOverlappingPairCache;
-
-
-class btPersistentManifold;
-class btStackAlloc;
-class btPoolAllocator;
-
-struct btDispatcherInfo
-{
-	enum DispatchFunc
-	{
-		DISPATCH_DISCRETE = 1,
-		DISPATCH_CONTINUOUS
-	};
-	btDispatcherInfo()
-		:m_timeStep(btScalar(0.)),
-		m_stepCount(0),
-		m_dispatchFunc(DISPATCH_DISCRETE),
-		m_timeOfImpact(btScalar(1.)),
-		m_useContinuous(true),
-		m_debugDraw(0),
-		m_enableSatConvex(false),
-		m_enableSPU(true),
-		m_useEpa(true),
-		m_allowedCcdPenetration(btScalar(0.04)),
-		m_useConvexConservativeDistanceUtil(false),
-		m_convexConservativeDistanceThreshold(0.0f),
-		m_stackAllocator(0)
-	{
-
-	}
-	btScalar	m_timeStep;
-	int			m_stepCount;
-	int			m_dispatchFunc;
-	mutable btScalar	m_timeOfImpact;
-	bool		m_useContinuous;
-	class btIDebugDraw*	m_debugDraw;
-	bool		m_enableSatConvex;
-	bool		m_enableSPU;
-	bool		m_useEpa;
-	btScalar	m_allowedCcdPenetration;
-	bool		m_useConvexConservativeDistanceUtil;
-	btScalar	m_convexConservativeDistanceThreshold;
-	btStackAlloc*	m_stackAllocator;
-};
-
-///The btDispatcher interface class can be used in combination with broadphase to dispatch calculations for overlapping pairs.
-///For example for pairwise collision detection, calculating contact points stored in btPersistentManifold or user callbacks (game logic).
-class btDispatcher
-{
-
-
-public:
-	virtual ~btDispatcher() ;
-
-	virtual btCollisionAlgorithm* findAlgorithm(btCollisionObject* body0,btCollisionObject* body1,btPersistentManifold* sharedManifold=0) = 0;
-
-	virtual btPersistentManifold*	getNewManifold(void* body0,void* body1)=0;
-
-	virtual void releaseManifold(btPersistentManifold* manifold)=0;
-
-	virtual void clearManifold(btPersistentManifold* manifold)=0;
-
-	virtual bool	needsCollision(btCollisionObject* body0,btCollisionObject* body1) = 0;
-
-	virtual bool	needsResponse(btCollisionObject* body0,btCollisionObject* body1)=0;
-
-	virtual void	dispatchAllCollisionPairs(btOverlappingPairCache* pairCache,const btDispatcherInfo& dispatchInfo,btDispatcher* dispatcher)  =0;
-
-	virtual int getNumManifolds() const = 0;
-
-	virtual btPersistentManifold* getManifoldByIndexInternal(int index) = 0;
-
-	virtual	btPersistentManifold**	getInternalManifoldPointer() = 0;
-
-	virtual	btPoolAllocator*	getInternalManifoldPool() = 0;
-
-	virtual	const btPoolAllocator*	getInternalManifoldPool() const = 0;
-
-	virtual	void* allocateCollisionAlgorithm(int size)  = 0;
-
-	virtual	void freeCollisionAlgorithm(void* ptr) = 0;
-
-};
-
-
-#endif //BT_DISPATCHER_H

data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h

@@ -1,151 +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_MULTI_SAP_BROADPHASE
-#define BT_MULTI_SAP_BROADPHASE
-
-#include "btBroadphaseInterface.h"
-#include "LinearMath/btAlignedObjectArray.h"
-#include "btOverlappingPairCache.h"
-
-
-class btBroadphaseInterface;
-class btSimpleBroadphase;
-
-
-typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
-
-///The btMultiSapBroadphase is a research project, not recommended to use in production. Use btAxisSweep3 or btDbvtBroadphase instead.
-///The btMultiSapBroadphase is a broadphase that contains multiple SAP broadphases.
-///The user can add SAP broadphases that cover the world. A btBroadphaseProxy can be in multiple child broadphases at the same time.
-///A btQuantizedBvh acceleration structures finds overlapping SAPs for each btBroadphaseProxy.
-///See http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=328
-///and http://www.continuousphysics.com/Bullet/phpBB2/viewtopic.php?t=1329
-class btMultiSapBroadphase :public btBroadphaseInterface
-{
-	btSapBroadphaseArray	m_sapBroadphases;
-	
-	btSimpleBroadphase*		m_simpleBroadphase;
-
-	btOverlappingPairCache*	m_overlappingPairs;
-
-	class btQuantizedBvh*			m_optimizedAabbTree;
-
-
-	bool					m_ownsPairCache;
-	
-	btOverlapFilterCallback*	m_filterCallback;
-
-	int			m_invalidPair;
-
-	struct	btBridgeProxy
-	{
-		btBroadphaseProxy*		m_childProxy;
-		btBroadphaseInterface*	m_childBroadphase;
-	};
-
-
-public:
-
-	struct	btMultiSapProxy	: public btBroadphaseProxy
-	{
-
-		///array with all the entries that this proxy belongs to
-		btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
-		btVector3	m_aabbMin;
-		btVector3	m_aabbMax;
-
-		int	m_shapeType;
-
-/*		void*	m_userPtr;
-		short int	m_collisionFilterGroup;
-		short int	m_collisionFilterMask;
-*/
-		btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
-			:btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
-			m_aabbMin(aabbMin),
-			m_aabbMax(aabbMax),
-			m_shapeType(shapeType)
-		{
-			m_multiSapParentProxy =this;
-		}
-
-		
-	};
-
-protected:
-
-
-	btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
-
-public:
-
-	btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
-
-
-	btSapBroadphaseArray&	getBroadphaseArray()
-	{
-		return m_sapBroadphases;
-	}
-
-	const btSapBroadphaseArray&	getBroadphaseArray() const
-	{
-		return m_sapBroadphases;
-	}
-
-	virtual ~btMultiSapBroadphase();
-
-	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	setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
-	virtual void	getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
-
-	virtual void	rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
-
-	void	addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*	childBroadphase);
-
-	///calculateOverlappingPairs is optional: incremental algorithms (sweep and prune) might do it during the set aabb
-	virtual void	calculateOverlappingPairs(btDispatcher* dispatcher);
-
-	bool	testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
-
-	virtual	btOverlappingPairCache*	getOverlappingPairCache()
-	{
-		return m_overlappingPairs;
-	}
-	virtual	const btOverlappingPairCache*	getOverlappingPairCache() const
-	{
-		return m_overlappingPairs;
-	}
-
-	///getAabb returns the axis aligned bounding box in the 'global' coordinate frame
-	///will add some transform later
-	virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
-	{
-		aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
-		aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
-	}
-
-	void	buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
-
-	virtual void	printStats();
-
-	void quicksort (btBroadphasePairArray& a, int lo, int hi);
-
-	///reset broadphase internal structures, to ensure determinism/reproducability
-	virtual void resetPool(btDispatcher* dispatcher);
-
-};
-
-#endif //BT_MULTI_SAP_BROADPHASE