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diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
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+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
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+/* 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__ \ No newline at end of file
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