Page MenuHome
Differential D8762 Diff 28333 extern/bullet2/src/BulletSoftBody/btSoftBodyData.h

Changeset View

Standalone View

View Options

extern/bullet2/src/BulletSoftBody/btSoftBodyData.h

Show All 13 Lines
*/ */
#ifndef BT_SOFTBODY_FLOAT_DATA #ifndef BT_SOFTBODY_FLOAT_DATA
#define BT_SOFTBODY_FLOAT_DATA #define BT_SOFTBODY_FLOAT_DATA
#include "BulletCollision/CollisionDispatch/btCollisionObject.h" #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h" #include "BulletDynamics/Dynamics/btRigidBody.h"
struct SoftBodyMaterialData struct SoftBodyMaterialData
{ {
float m_linearStiffness; float m_linearStiffness;
float m_angularStiffness; float m_angularStiffness;
float m_volumeStiffness; float m_volumeStiffness;
int m_flags; int m_flags;
}; };
struct SoftBodyNodeData struct SoftBodyNodeData
{ {
SoftBodyMaterialData *m_material; SoftBodyMaterialData *m_material;
btVector3FloatData m_position; btVector3FloatData m_position;
btVector3FloatData m_previousPosition; btVector3FloatData m_previousPosition;
btVector3FloatData m_velocity; btVector3FloatData m_velocity;
btVector3FloatData m_accumulatedForce; btVector3FloatData m_accumulatedForce;
btVector3FloatData m_normal; btVector3FloatData m_normal;
float m_inverseMass; float m_inverseMass;
float m_area; float m_area;
int m_attach; int m_attach;
int m_pad; int m_pad;
}; };
struct SoftBodyLinkData struct SoftBodyLinkData
{ {
SoftBodyMaterialData *m_material; SoftBodyMaterialData *m_material;
int m_nodeIndices[2]; // Node pointers int m_nodeIndices[2]; // Node pointers
float m_restLength; // Rest length float m_restLength; // Rest length
int m_bbending; // Bending link int m_bbending; // Bending link
}; };
struct SoftBodyFaceData struct SoftBodyFaceData
{ {
btVector3FloatData m_normal; // Normal btVector3FloatData m_normal; // Normal
SoftBodyMaterialData *m_material; SoftBodyMaterialData *m_material;
int m_nodeIndices[3]; // Node pointers int m_nodeIndices[3]; // Node pointers
float m_restArea; // Rest area float m_restArea; // Rest area
}; };
struct SoftBodyTetraData struct SoftBodyTetraData
{ {
btVector3FloatData m_c0[4]; // gradients btVector3FloatData m_c0[4]; // gradients
SoftBodyMaterialData *m_material; SoftBodyMaterialData *m_material;
int m_nodeIndices[4]; // Node pointers int m_nodeIndices[4]; // Node pointers
float m_restVolume; // Rest volume float m_restVolume; // Rest volume
float m_c1; // (4*kVST)/(im0+im1+im2+im3) float m_c1; // (4*kVST)/(im0+im1+im2+im3)
float m_c2; // m_c1/sum(|g0..3|^2) float m_c2; // m_c1/sum(|g0..3|^2)
int m_pad; int m_pad;
}; };
struct SoftRigidAnchorData struct SoftRigidAnchorData
{ {
btMatrix3x3FloatData m_c0; // Impulse matrix btMatrix3x3FloatData m_c0; // Impulse matrix
btVector3FloatData m_c1; // Relative anchor btVector3FloatData m_c1; // Relative anchor
btVector3FloatData m_localFrame; // Anchor position in body space btVector3FloatData m_localFrame; // Anchor position in body space
btRigidBodyData *m_rigidBody; btRigidBodyData *m_rigidBody;
int m_nodeIndex; // Node pointer int m_nodeIndex; // Node pointer
float m_c2; // ima*dt float m_c2; // ima*dt
}; };
struct SoftBodyConfigData struct SoftBodyConfigData
{ {
int m_aeroModel; // Aerodynamic model (default: V_Point) int m_aeroModel; // Aerodynamic model (default: V_Point)
float m_baumgarte; // Velocities correction factor (Baumgarte) float m_baumgarte; // Velocities correction factor (Baumgarte)
float m_damping; // Damping coefficient [0,1] float m_damping; // Damping coefficient [0,1]
float m_drag; // Drag coefficient [0,+inf] float m_drag; // Drag coefficient [0,+inf]
float m_lift; // Lift coefficient [0,+inf] float m_lift; // Lift coefficient [0,+inf]
float m_pressure; // Pressure coefficient [-inf,+inf] float m_pressure; // Pressure coefficient [-inf,+inf]
float m_volume; // Volume conversation coefficient [0,+inf] float m_volume; // Volume conversation coefficient [0,+inf]
float m_dynamicFriction; // Dynamic friction coefficient [0,1] float m_dynamicFriction; // Dynamic friction coefficient [0,1]
float m_poseMatch; // Pose matching coefficient [0,1] float m_poseMatch; // Pose matching coefficient [0,1]
float m_rigidContactHardness; // Rigid contacts hardness [0,1] float m_rigidContactHardness; // Rigid contacts hardness [0,1]
float m_kineticContactHardness; // Kinetic contacts hardness [0,1] float m_kineticContactHardness; // Kinetic contacts hardness [0,1]
float m_softContactHardness; // Soft contacts hardness [0,1] float m_softContactHardness; // Soft contacts hardness [0,1]
float m_anchorHardness; // Anchors hardness [0,1] float m_anchorHardness; // Anchors hardness [0,1]
float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only) float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only)
float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only) float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only)
float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only) float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only)
float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
float m_maxVolume; // Maximum volume ratio for pose float m_maxVolume; // Maximum volume ratio for pose
float m_timeScale; // Time scale float m_timeScale; // Time scale
int m_velocityIterations; // Velocities solver iterations int m_velocityIterations; // Velocities solver iterations
int m_positionIterations; // Positions solver iterations int m_positionIterations; // Positions solver iterations
int m_driftIterations; // Drift solver iterations int m_driftIterations; // Drift solver iterations
int m_clusterIterations; // Cluster solver iterations int m_clusterIterations; // Cluster solver iterations
int m_collisionFlags; // Collisions flags int m_collisionFlags; // Collisions flags
}; };
struct SoftBodyPoseData struct SoftBodyPoseData
{ {
btMatrix3x3FloatData m_rot; // Rotation btMatrix3x3FloatData m_rot; // Rotation
btMatrix3x3FloatData m_scale; // Scale btMatrix3x3FloatData m_scale; // Scale
btMatrix3x3FloatData m_aqq; // Base scaling btMatrix3x3FloatData m_aqq; // Base scaling
btVector3FloatData m_com; // COM btVector3FloatData m_com; // COM
btVector3FloatData *m_positions; // Reference positions btVector3FloatData *m_positions; // Reference positions
float *m_weights; // Weights float *m_weights; // Weights
int m_numPositions; int m_numPositions;
int m_numWeigts; int m_numWeigts;
int m_bvolume; // Is valid int m_bvolume; // Is valid
int m_bframe; // Is frame int m_bframe; // Is frame
float m_restVolume; // Rest volume float m_restVolume; // Rest volume
int m_pad; int m_pad;
}; };
struct SoftBodyClusterData struct SoftBodyClusterData
{ {
btTransformFloatData m_framexform; btTransformFloatData m_framexform;
btMatrix3x3FloatData m_locii; btMatrix3x3FloatData m_locii;
btMatrix3x3FloatData m_invwi; btMatrix3x3FloatData m_invwi;
btVector3FloatData m_com; btVector3FloatData m_com;
btVector3FloatData m_vimpulses[2]; btVector3FloatData m_vimpulses[2];
btVector3FloatData m_dimpulses[2]; btVector3FloatData m_dimpulses[2];
btVector3FloatData m_lv; btVector3FloatData m_lv;
btVector3FloatData m_av; btVector3FloatData m_av;
btVector3FloatData *m_framerefs; btVector3FloatData *m_framerefs;
int *m_nodeIndices; int *m_nodeIndices;
float *m_masses; float *m_masses;
int m_numFrameRefs; int m_numFrameRefs;
int m_numNodes; int m_numNodes;
int m_numMasses; int m_numMasses;
float m_idmass; float m_idmass;
float m_imass; float m_imass;
int m_nvimpulses; int m_nvimpulses;
int m_ndimpulses; int m_ndimpulses;
float m_ndamping; float m_ndamping;
float m_ldamping; float m_ldamping;
float m_adamping; float m_adamping;
float m_matching; float m_matching;
float m_maxSelfCollisionImpulse; float m_maxSelfCollisionImpulse;
float m_selfCollisionImpulseFactor; float m_selfCollisionImpulseFactor;
int m_containsAnchor; int m_containsAnchor;
int m_collide; int m_collide;
int m_clusterIndex; int m_clusterIndex;
}; };
enum btSoftJointBodyType enum btSoftJointBodyType
{ {
BT_JOINT_SOFT_BODY_CLUSTER=1, BT_JOINT_SOFT_BODY_CLUSTER = 1,
BT_JOINT_RIGID_BODY, BT_JOINT_RIGID_BODY,
BT_JOINT_COLLISION_OBJECT BT_JOINT_COLLISION_OBJECT
}; };
struct btSoftBodyJointData struct btSoftBodyJointData
{ {
void *m_bodyA; void *m_bodyA;
void *m_bodyB; void *m_bodyB;
btVector3FloatData m_refs[2]; btVector3FloatData m_refs[2];
float m_cfm; float m_cfm;
float m_erp; float m_erp;
float m_split; float m_split;
int m_delete; int m_delete;
btVector3FloatData m_relPosition[2];//linear btVector3FloatData m_relPosition[2]; //linear
int m_bodyAtype; int m_bodyAtype;
int m_bodyBtype; int m_bodyBtype;
int m_jointType; int m_jointType;
int m_pad; int m_pad;
}; };
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btSoftBodyFloatData struct btSoftBodyFloatData
{ {
btCollisionObjectFloatData m_collisionObjectData; btCollisionObjectFloatData m_collisionObjectData;
SoftBodyPoseData *m_pose; SoftBodyPoseData *m_pose;
SoftBodyMaterialData **m_materials; SoftBodyMaterialData **m_materials;
SoftBodyNodeData *m_nodes; SoftBodyNodeData *m_nodes;
SoftBodyLinkData *m_links; SoftBodyLinkData *m_links;
SoftBodyFaceData *m_faces; SoftBodyFaceData *m_faces;
SoftBodyTetraData *m_tetrahedra; SoftBodyTetraData *m_tetrahedra;
SoftRigidAnchorData *m_anchors; SoftRigidAnchorData *m_anchors;
SoftBodyClusterData *m_clusters; SoftBodyClusterData *m_clusters;
btSoftBodyJointData *m_joints; btSoftBodyJointData *m_joints;
int m_numMaterials; int m_numMaterials;
int m_numNodes; int m_numNodes;
int m_numLinks; int m_numLinks;
int m_numFaces; int m_numFaces;
int m_numTetrahedra; int m_numTetrahedra;
int m_numAnchors; int m_numAnchors;
int m_numClusters; int m_numClusters;
int m_numJoints; int m_numJoints;
SoftBodyConfigData m_config; SoftBodyConfigData m_config;
}; };
#endif //BT_SOFTBODY_FLOAT_DATA #endif //BT_SOFTBODY_FLOAT_DATA