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-rw-r--r--thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h1994
1 files changed, 964 insertions, 1030 deletions
diff --git a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
index a6b57b1a12..eaa27dfe8f 100644
--- a/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
+++ b/thirdparty/bullet/Bullet3Serialize/Bullet2FileLoader/autogenerated/bullet2.h
@@ -19,1035 +19,969 @@
// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
#ifndef __BULLET2_H__
#define __BULLET2_H__
-namespace Bullet3SerializeBullet2 {
-
+namespace Bullet3SerializeBullet2
+{
// put an empty struct in the case
-typedef struct bInvalidHandle {
+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
+} 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;
+};
+
+} // namespace Bullet3SerializeBullet2
+#endif //__BULLET2_H__ \ No newline at end of file
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