/* 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__