Vendor thirdparty Bullet source for upcoming physics server backend

1 files changed, 1053 insertions, 0 deletions

diff --git a/thirdparty/bullet/src/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h b/thirdparty/bullet/src/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
new file mode 100644
index 0000000000..a6b57b1a12
--- /dev/null
+++ b/thirdparty/bullet/src/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
@@ -0,0 +1,1053 @@
+/* Copyright (C) 2011 Erwin Coumans & Charlie C
+*
+* 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.
+*/
+// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
+#ifndef __BULLET2_H__
+#define __BULLET2_H__
+namespace Bullet3SerializeBullet2 {
+
+// put an empty struct in the case
+typedef struct bInvalidHandle {
+	int unused;
+}bInvalidHandle;
+
+    class PointerArray;
+    class b3PhysicsSystem;
+    class ListBase;
+    class b3Vector3FloatData;
+    class b3Vector3DoubleData;
+    class b3Matrix3x3FloatData;
+    class b3Matrix3x3DoubleData;
+    class b3TransformFloatData;
+    class b3TransformDoubleData;
+    class b3BvhSubtreeInfoData;
+    class b3OptimizedBvhNodeFloatData;
+    class b3OptimizedBvhNodeDoubleData;
+    class b3QuantizedBvhNodeData;
+    class b3QuantizedBvhFloatData;
+    class b3QuantizedBvhDoubleData;
+    class b3CollisionShapeData;
+    class b3StaticPlaneShapeData;
+    class b3ConvexInternalShapeData;
+    class b3PositionAndRadius;
+    class b3MultiSphereShapeData;
+    class b3IntIndexData;
+    class b3ShortIntIndexData;
+    class b3ShortIntIndexTripletData;
+    class b3CharIndexTripletData;
+    class b3MeshPartData;
+    class b3StridingMeshInterfaceData;
+    class b3TriangleMeshShapeData;
+    class b3ScaledTriangleMeshShapeData;
+    class b3CompoundShapeChildData;
+    class b3CompoundShapeData;
+    class b3CylinderShapeData;
+    class b3CapsuleShapeData;
+    class b3TriangleInfoData;
+    class b3TriangleInfoMapData;
+    class b3GImpactMeshShapeData;
+    class b3ConvexHullShapeData;
+    class b3CollisionObjectDoubleData;
+    class b3CollisionObjectFloatData;
+    class b3DynamicsWorldDoubleData;
+    class b3DynamicsWorldFloatData;
+    class b3RigidBodyFloatData;
+    class b3RigidBodyDoubleData;
+    class b3ConstraintInfo1;
+    class b3TypedConstraintData;
+    class b3Point2PointConstraintFloatData;
+    class b3Point2PointConstraintDoubleData;
+    class b3HingeConstraintDoubleData;
+    class b3HingeConstraintFloatData;
+    class b3ConeTwistConstraintData;
+    class b3Generic6DofConstraintData;
+    class b3Generic6DofSpringConstraintData;
+    class b3SliderConstraintData;
+    class b3ContactSolverInfoDoubleData;
+    class b3ContactSolverInfoFloatData;
+    class SoftBodyMaterialData;
+    class SoftBodyNodeData;
+    class SoftBodyLinkData;
+    class SoftBodyFaceData;
+    class SoftBodyTetraData;
+    class SoftRigidAnchorData;
+    class SoftBodyConfigData;
+    class SoftBodyPoseData;
+    class SoftBodyClusterData;
+    class b3SoftBodyJointData;
+    class b3SoftBodyFloatData;
+// -------------------------------------------------- //
+    class PointerArray
+    {
+    public:
+        int m_size;
+        int m_capacity;
+        void *m_data;
+    };
+
+
+// -------------------------------------------------- //
+    class b3PhysicsSystem
+    {
+    public:
+        PointerArray m_collisionShapes;
+        PointerArray m_collisionObjects;
+        PointerArray m_constraints;
+    };
+
+
+// -------------------------------------------------- //
+    class ListBase
+    {
+    public:
+        void *first;
+        void *last;
+    };
+
+
+// -------------------------------------------------- //
+    class b3Vector3FloatData
+    {
+    public:
+        float m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3Vector3DoubleData
+    {
+    public:
+        double m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3Matrix3x3FloatData
+    {
+    public:
+        b3Vector3FloatData m_el[3];
+    };
+
+
+// -------------------------------------------------- //
+    class b3Matrix3x3DoubleData
+    {
+    public:
+        b3Vector3DoubleData m_el[3];
+    };
+
+
+// -------------------------------------------------- //
+    class b3TransformFloatData
+    {
+    public:
+        b3Matrix3x3FloatData m_basis;
+        b3Vector3FloatData m_origin;
+    };
+
+
+// -------------------------------------------------- //
+    class b3TransformDoubleData
+    {
+    public:
+        b3Matrix3x3DoubleData m_basis;
+        b3Vector3DoubleData m_origin;
+    };
+
+
+// -------------------------------------------------- //
+    class b3BvhSubtreeInfoData
+    {
+    public:
+        int m_rootNodeIndex;
+        int m_subtreeSize;
+        short m_quantizedAabbMin[3];
+        short m_quantizedAabbMax[3];
+    };
+
+
+// -------------------------------------------------- //
+    class b3OptimizedBvhNodeFloatData
+    {
+    public:
+        b3Vector3FloatData m_aabbMinOrg;
+        b3Vector3FloatData m_aabbMaxOrg;
+        int m_escapeIndex;
+        int m_subPart;
+        int m_triangleIndex;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3OptimizedBvhNodeDoubleData
+    {
+    public:
+        b3Vector3DoubleData m_aabbMinOrg;
+        b3Vector3DoubleData m_aabbMaxOrg;
+        int m_escapeIndex;
+        int m_subPart;
+        int m_triangleIndex;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3QuantizedBvhNodeData
+    {
+    public:
+        short m_quantizedAabbMin[3];
+        short m_quantizedAabbMax[3];
+        int m_escapeIndexOrTriangleIndex;
+    };
+
+
+// -------------------------------------------------- //
+    class b3QuantizedBvhFloatData
+    {
+    public:
+        b3Vector3FloatData m_bvhAabbMin;
+        b3Vector3FloatData m_bvhAabbMax;
+        b3Vector3FloatData m_bvhQuantization;
+        int m_curNodeIndex;
+        int m_useQuantization;
+        int m_numContiguousLeafNodes;
+        int m_numQuantizedContiguousNodes;
+        b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr;
+        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
+        int m_traversalMode;
+        int m_numSubtreeHeaders;
+    };
+
+
+// -------------------------------------------------- //
+    class b3QuantizedBvhDoubleData
+    {
+    public:
+        b3Vector3DoubleData m_bvhAabbMin;
+        b3Vector3DoubleData m_bvhAabbMax;
+        b3Vector3DoubleData m_bvhQuantization;
+        int m_curNodeIndex;
+        int m_useQuantization;
+        int m_numContiguousLeafNodes;
+        int m_numQuantizedContiguousNodes;
+        b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
+        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
+        int m_traversalMode;
+        int m_numSubtreeHeaders;
+        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
+    };
+
+
+// -------------------------------------------------- //
+    class b3CollisionShapeData
+    {
+    public:
+        char *m_name;
+        int m_shapeType;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3StaticPlaneShapeData
+    {
+    public:
+        b3CollisionShapeData m_collisionShapeData;
+        b3Vector3FloatData m_localScaling;
+        b3Vector3FloatData m_planeNormal;
+        float m_planeConstant;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3ConvexInternalShapeData
+    {
+    public:
+        b3CollisionShapeData m_collisionShapeData;
+        b3Vector3FloatData m_localScaling;
+        b3Vector3FloatData m_implicitShapeDimensions;
+        float m_collisionMargin;
+        int m_padding;
+    };
+
+
+// -------------------------------------------------- //
+    class b3PositionAndRadius
+    {
+    public:
+        b3Vector3FloatData m_pos;
+        float m_radius;
+    };
+
+
+// -------------------------------------------------- //
+    class b3MultiSphereShapeData
+    {
+    public:
+        b3ConvexInternalShapeData m_convexInternalShapeData;
+        b3PositionAndRadius *m_localPositionArrayPtr;
+        int m_localPositionArraySize;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3IntIndexData
+    {
+    public:
+        int m_value;
+    };
+
+
+// -------------------------------------------------- //
+    class b3ShortIntIndexData
+    {
+    public:
+        short m_value;
+        char m_pad[2];
+    };
+
+
+// -------------------------------------------------- //
+    class b3ShortIntIndexTripletData
+    {
+    public:
+        short m_values[3];
+        char m_pad[2];
+    };
+
+
+// -------------------------------------------------- //
+    class b3CharIndexTripletData
+    {
+    public:
+        char m_values[3];
+        char m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class b3MeshPartData
+    {
+    public:
+        b3Vector3FloatData *m_vertices3f;
+        b3Vector3DoubleData *m_vertices3d;
+        b3IntIndexData *m_indices32;
+        b3ShortIntIndexTripletData *m_3indices16;
+        b3CharIndexTripletData *m_3indices8;
+        b3ShortIntIndexData *m_indices16;
+        int m_numTriangles;
+        int m_numVertices;
+    };
+
+
+// -------------------------------------------------- //
+    class b3StridingMeshInterfaceData
+    {
+    public:
+        b3MeshPartData *m_meshPartsPtr;
+        b3Vector3FloatData m_scaling;
+        int m_numMeshParts;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3TriangleMeshShapeData
+    {
+    public:
+        b3CollisionShapeData m_collisionShapeData;
+        b3StridingMeshInterfaceData m_meshInterface;
+        b3QuantizedBvhFloatData *m_quantizedFloatBvh;
+        b3QuantizedBvhDoubleData *m_quantizedDoubleBvh;
+        b3TriangleInfoMapData *m_triangleInfoMap;
+        float m_collisionMargin;
+        char m_pad3[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3ScaledTriangleMeshShapeData
+    {
+    public:
+        b3TriangleMeshShapeData m_trimeshShapeData;
+        b3Vector3FloatData m_localScaling;
+    };
+
+
+// -------------------------------------------------- //
+    class b3CompoundShapeChildData
+    {
+    public:
+        b3TransformFloatData m_transform;
+        b3CollisionShapeData *m_childShape;
+        int m_childShapeType;
+        float m_childMargin;
+    };
+
+
+// -------------------------------------------------- //
+    class b3CompoundShapeData
+    {
+    public:
+        b3CollisionShapeData m_collisionShapeData;
+        b3CompoundShapeChildData *m_childShapePtr;
+        int m_numChildShapes;
+        float m_collisionMargin;
+    };
+
+
+// -------------------------------------------------- //
+    class b3CylinderShapeData
+    {
+    public:
+        b3ConvexInternalShapeData m_convexInternalShapeData;
+        int m_upAxis;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3CapsuleShapeData
+    {
+    public:
+        b3ConvexInternalShapeData m_convexInternalShapeData;
+        int m_upAxis;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3TriangleInfoData
+    {
+    public:
+        int m_flags;
+        float m_edgeV0V1Angle;
+        float m_edgeV1V2Angle;
+        float m_edgeV2V0Angle;
+    };
+
+
+// -------------------------------------------------- //
+    class b3TriangleInfoMapData
+    {
+    public:
+        int *m_hashTablePtr;
+        int *m_nextPtr;
+        b3TriangleInfoData *m_valueArrayPtr;
+        int *m_keyArrayPtr;
+        float m_convexEpsilon;
+        float m_planarEpsilon;
+        float m_equalVertexThreshold;
+        float m_edgeDistanceThreshold;
+        float m_zeroAreaThreshold;
+        int m_nextSize;
+        int m_hashTableSize;
+        int m_numValues;
+        int m_numKeys;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3GImpactMeshShapeData
+    {
+    public:
+        b3CollisionShapeData m_collisionShapeData;
+        b3StridingMeshInterfaceData m_meshInterface;
+        b3Vector3FloatData m_localScaling;
+        float m_collisionMargin;
+        int m_gimpactSubType;
+    };
+
+
+// -------------------------------------------------- //
+    class b3ConvexHullShapeData
+    {
+    public:
+        b3ConvexInternalShapeData m_convexInternalShapeData;
+        b3Vector3FloatData *m_unscaledPointsFloatPtr;
+        b3Vector3DoubleData *m_unscaledPointsDoublePtr;
+        int m_numUnscaledPoints;
+        char m_padding3[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3CollisionObjectDoubleData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        b3CollisionShapeData *m_rootCollisionShape;
+        char *m_name;
+        b3TransformDoubleData m_worldTransform;
+        b3TransformDoubleData m_interpolationWorldTransform;
+        b3Vector3DoubleData m_interpolationLinearVelocity;
+        b3Vector3DoubleData m_interpolationAngularVelocity;
+        b3Vector3DoubleData m_anisotropicFriction;
+        double m_contactProcessingThreshold;
+        double m_deactivationTime;
+        double m_friction;
+        double m_rollingFriction;
+        double m_restitution;
+        double m_hitFraction;
+        double m_ccdSweptSphereRadius;
+        double m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3CollisionObjectFloatData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        b3CollisionShapeData *m_rootCollisionShape;
+        char *m_name;
+        b3TransformFloatData m_worldTransform;
+        b3TransformFloatData m_interpolationWorldTransform;
+        b3Vector3FloatData m_interpolationLinearVelocity;
+        b3Vector3FloatData m_interpolationAngularVelocity;
+        b3Vector3FloatData m_anisotropicFriction;
+        float m_contactProcessingThreshold;
+        float m_deactivationTime;
+        float m_friction;
+        float m_rollingFriction;
+        float m_restitution;
+        float m_hitFraction;
+        float m_ccdSweptSphereRadius;
+        float m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+        char m_padding[4];
+    };
+
+
+
+// -------------------------------------------------- //
+    class b3RigidBodyFloatData
+    {
+    public:
+        b3CollisionObjectFloatData m_collisionObjectData;
+        b3Matrix3x3FloatData m_invInertiaTensorWorld;
+        b3Vector3FloatData m_linearVelocity;
+        b3Vector3FloatData m_angularVelocity;
+        b3Vector3FloatData m_angularFactor;
+        b3Vector3FloatData m_linearFactor;
+        b3Vector3FloatData m_gravity;
+        b3Vector3FloatData m_gravity_acceleration;
+        b3Vector3FloatData m_invInertiaLocal;
+        b3Vector3FloatData m_totalForce;
+        b3Vector3FloatData m_totalTorque;
+        float m_inverseMass;
+        float m_linearDamping;
+        float m_angularDamping;
+        float m_additionalDampingFactor;
+        float m_additionalLinearDampingThresholdSqr;
+        float m_additionalAngularDampingThresholdSqr;
+        float m_additionalAngularDampingFactor;
+        float m_linearSleepingThreshold;
+        float m_angularSleepingThreshold;
+        int m_additionalDamping;
+    };
+
+
+// -------------------------------------------------- //
+    class b3RigidBodyDoubleData
+    {
+    public:
+        b3CollisionObjectDoubleData m_collisionObjectData;
+        b3Matrix3x3DoubleData m_invInertiaTensorWorld;
+        b3Vector3DoubleData m_linearVelocity;
+        b3Vector3DoubleData m_angularVelocity;
+        b3Vector3DoubleData m_angularFactor;
+        b3Vector3DoubleData m_linearFactor;
+        b3Vector3DoubleData m_gravity;
+        b3Vector3DoubleData m_gravity_acceleration;
+        b3Vector3DoubleData m_invInertiaLocal;
+        b3Vector3DoubleData m_totalForce;
+        b3Vector3DoubleData m_totalTorque;
+        double m_inverseMass;
+        double m_linearDamping;
+        double m_angularDamping;
+        double m_additionalDampingFactor;
+        double m_additionalLinearDampingThresholdSqr;
+        double m_additionalAngularDampingThresholdSqr;
+        double m_additionalAngularDampingFactor;
+        double m_linearSleepingThreshold;
+        double m_angularSleepingThreshold;
+        int m_additionalDamping;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3ConstraintInfo1
+    {
+    public:
+        int m_numConstraintRows;
+        int nub;
+    };
+
+
+// -------------------------------------------------- //
+    class b3TypedConstraintData
+    {
+    public:
+        bInvalidHandle *m_rbA;
+        bInvalidHandle *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        float m_appliedImpulse;
+        float m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        float m_breakingImpulseThreshold;
+        int m_isEnabled;
+    };
+
+
+// -------------------------------------------------- //
+    class b3Point2PointConstraintFloatData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3Vector3FloatData m_pivotInA;
+        b3Vector3FloatData m_pivotInB;
+    };
+
+
+// -------------------------------------------------- //
+    class b3Point2PointConstraintDoubleData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3Vector3DoubleData m_pivotInA;
+        b3Vector3DoubleData m_pivotInB;
+    };
+
+
+// -------------------------------------------------- //
+    class b3HingeConstraintDoubleData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3TransformDoubleData m_rbAFrame;
+        b3TransformDoubleData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        float m_motorTargetVelocity;
+        float m_maxMotorImpulse;
+        float m_lowerLimit;
+        float m_upperLimit;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+    };
+
+
+// -------------------------------------------------- //
+    class b3HingeConstraintFloatData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3TransformFloatData m_rbAFrame;
+        b3TransformFloatData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        float m_motorTargetVelocity;
+        float m_maxMotorImpulse;
+        float m_lowerLimit;
+        float m_upperLimit;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+    };
+
+
+// -------------------------------------------------- //
+    class b3ConeTwistConstraintData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3TransformFloatData m_rbAFrame;
+        b3TransformFloatData m_rbBFrame;
+        float m_swingSpan1;
+        float m_swingSpan2;
+        float m_twistSpan;
+        float m_limitSoftness;
+        float m_biasFactor;
+        float m_relaxationFactor;
+        float m_damping;
+        char m_pad[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3Generic6DofConstraintData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3TransformFloatData m_rbAFrame;
+        b3TransformFloatData m_rbBFrame;
+        b3Vector3FloatData m_linearUpperLimit;
+        b3Vector3FloatData m_linearLowerLimit;
+        b3Vector3FloatData m_angularUpperLimit;
+        b3Vector3FloatData m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class b3Generic6DofSpringConstraintData
+    {
+    public:
+        b3Generic6DofConstraintData m_6dofData;
+        int m_springEnabled[6];
+        float m_equilibriumPoint[6];
+        float m_springStiffness[6];
+        float m_springDamping[6];
+    };
+
+
+// -------------------------------------------------- //
+    class b3SliderConstraintData
+    {
+    public:
+        b3TypedConstraintData m_typeConstraintData;
+        b3TransformFloatData m_rbAFrame;
+        b3TransformFloatData m_rbBFrame;
+        float m_linearUpperLimit;
+        float m_linearLowerLimit;
+        float m_angularUpperLimit;
+        float m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class b3ContactSolverInfoDoubleData
+    {
+    public:
+        double m_tau;
+        double m_damping;
+        double m_friction;
+        double m_timeStep;
+        double m_restitution;
+        double m_maxErrorReduction;
+        double m_sor;
+        double m_erp;
+        double m_erp2;
+        double m_globalCfm;
+        double m_splitImpulsePenetrationThreshold;
+        double m_splitImpulseTurnErp;
+        double m_linearSlop;
+        double m_warmstartingFactor;
+        double m_maxGyroscopicForce;
+        double m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class b3ContactSolverInfoFloatData
+    {
+    public:
+        float m_tau;
+        float m_damping;
+        float m_friction;
+        float m_timeStep;
+        float m_restitution;
+        float m_maxErrorReduction;
+        float m_sor;
+        float m_erp;
+        float m_erp2;
+        float m_globalCfm;
+        float m_splitImpulsePenetrationThreshold;
+        float m_splitImpulseTurnErp;
+        float m_linearSlop;
+        float m_warmstartingFactor;
+        float m_maxGyroscopicForce;
+        float m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
+	// -------------------------------------------------- //
+    class b3DynamicsWorldDoubleData
+    {
+    public:
+        b3ContactSolverInfoDoubleData m_solverInfo;
+        b3Vector3DoubleData m_gravity;
+    };
+
+
+// -------------------------------------------------- //
+    class b3DynamicsWorldFloatData
+    {
+    public:
+        b3ContactSolverInfoFloatData m_solverInfo;
+        b3Vector3FloatData m_gravity;
+    };
+
+
+
+// -------------------------------------------------- //
+    class SoftBodyMaterialData
+    {
+    public:
+        float m_linearStiffness;
+        float m_angularStiffness;
+        float m_volumeStiffness;
+        int m_flags;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyNodeData
+    {
+    public:
+        SoftBodyMaterialData *m_material;
+        b3Vector3FloatData m_position;
+        b3Vector3FloatData m_previousPosition;
+        b3Vector3FloatData m_velocity;
+        b3Vector3FloatData m_accumulatedForce;
+        b3Vector3FloatData m_normal;
+        float m_inverseMass;
+        float m_area;
+        int m_attach;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyLinkData
+    {
+    public:
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[2];
+        float m_restLength;
+        int m_bbending;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyFaceData
+    {
+    public:
+        b3Vector3FloatData m_normal;
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[3];
+        float m_restArea;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyTetraData
+    {
+    public:
+        b3Vector3FloatData m_c0[4];
+        SoftBodyMaterialData *m_material;
+        int m_nodeIndices[4];
+        float m_restVolume;
+        float m_c1;
+        float m_c2;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftRigidAnchorData
+    {
+    public:
+        b3Matrix3x3FloatData m_c0;
+        b3Vector3FloatData m_c1;
+        b3Vector3FloatData m_localFrame;
+        bInvalidHandle *m_rigidBody;
+        int m_nodeIndex;
+        float m_c2;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyConfigData
+    {
+    public:
+        int m_aeroModel;
+        float m_baumgarte;
+        float m_damping;
+        float m_drag;
+        float m_lift;
+        float m_pressure;
+        float m_volume;
+        float m_dynamicFriction;
+        float m_poseMatch;
+        float m_rigidContactHardness;
+        float m_kineticContactHardness;
+        float m_softContactHardness;
+        float m_anchorHardness;
+        float m_softRigidClusterHardness;
+        float m_softKineticClusterHardness;
+        float m_softSoftClusterHardness;
+        float m_softRigidClusterImpulseSplit;
+        float m_softKineticClusterImpulseSplit;
+        float m_softSoftClusterImpulseSplit;
+        float m_maxVolume;
+        float m_timeScale;
+        int m_velocityIterations;
+        int m_positionIterations;
+        int m_driftIterations;
+        int m_clusterIterations;
+        int m_collisionFlags;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyPoseData
+    {
+    public:
+        b3Matrix3x3FloatData m_rot;
+        b3Matrix3x3FloatData m_scale;
+        b3Matrix3x3FloatData m_aqq;
+        b3Vector3FloatData m_com;
+        b3Vector3FloatData *m_positions;
+        float *m_weights;
+        int m_numPositions;
+        int m_numWeigts;
+        int m_bvolume;
+        int m_bframe;
+        float m_restVolume;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class SoftBodyClusterData
+    {
+    public:
+        b3TransformFloatData m_framexform;
+        b3Matrix3x3FloatData m_locii;
+        b3Matrix3x3FloatData m_invwi;
+        b3Vector3FloatData m_com;
+        b3Vector3FloatData m_vimpulses[2];
+        b3Vector3FloatData m_dimpulses[2];
+        b3Vector3FloatData m_lv;
+        b3Vector3FloatData m_av;
+        b3Vector3FloatData *m_framerefs;
+        int *m_nodeIndices;
+        float *m_masses;
+        int m_numFrameRefs;
+        int m_numNodes;
+        int m_numMasses;
+        float m_idmass;
+        float m_imass;
+        int m_nvimpulses;
+        int m_ndimpulses;
+        float m_ndamping;
+        float m_ldamping;
+        float m_adamping;
+        float m_matching;
+        float m_maxSelfCollisionImpulse;
+        float m_selfCollisionImpulseFactor;
+        int m_containsAnchor;
+        int m_collide;
+        int m_clusterIndex;
+    };
+
+
+// -------------------------------------------------- //
+    class b3SoftBodyJointData
+    {
+    public:
+        void *m_bodyA;
+        void *m_bodyB;
+        b3Vector3FloatData m_refs[2];
+        float m_cfm;
+        float m_erp;
+        float m_split;
+        int m_delete;
+        b3Vector3FloatData m_relPosition[2];
+        int m_bodyAtype;
+        int m_bodyBtype;
+        int m_jointType;
+        int m_pad;
+    };
+
+
+// -------------------------------------------------- //
+    class b3SoftBodyFloatData
+    {
+    public:
+        b3CollisionObjectFloatData m_collisionObjectData;
+        SoftBodyPoseData *m_pose;
+        SoftBodyMaterialData **m_materials;
+        SoftBodyNodeData *m_nodes;
+        SoftBodyLinkData *m_links;
+        SoftBodyFaceData *m_faces;
+        SoftBodyTetraData *m_tetrahedra;
+        SoftRigidAnchorData *m_anchors;
+        SoftBodyClusterData *m_clusters;
+        b3SoftBodyJointData *m_joints;
+        int m_numMaterials;
+        int m_numNodes;
+        int m_numLinks;
+        int m_numFaces;
+        int m_numTetrahedra;
+        int m_numAnchors;
+        int m_numClusters;
+        int m_numJoints;
+        SoftBodyConfigData m_config;
+    };
+
+
+}
+#endif//__BULLET2_H__
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