218 lines
6.7 KiB
C
218 lines
6.7 KiB
C
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_SOFTBODY_FLOAT_DATA
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#define BT_SOFTBODY_FLOAT_DATA
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#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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struct SoftBodyMaterialData
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{
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float m_linearStiffness;
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float m_angularStiffness;
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float m_volumeStiffness;
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int m_flags;
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};
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struct SoftBodyNodeData
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{
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SoftBodyMaterialData *m_material;
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btVector3FloatData m_position;
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btVector3FloatData m_previousPosition;
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btVector3FloatData m_velocity;
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btVector3FloatData m_accumulatedForce;
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btVector3FloatData m_normal;
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float m_inverseMass;
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float m_area;
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int m_attach;
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int m_pad;
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};
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struct SoftBodyLinkData
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{
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SoftBodyMaterialData *m_material;
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int m_nodeIndices[2]; // Node pointers
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float m_restLength; // Rest length
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int m_bbending; // Bending link
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};
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struct SoftBodyFaceData
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{
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btVector3FloatData m_normal; // Normal
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SoftBodyMaterialData *m_material;
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int m_nodeIndices[3]; // Node pointers
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float m_restArea; // Rest area
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};
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struct SoftBodyTetraData
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{
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btVector3FloatData m_c0[4]; // gradients
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SoftBodyMaterialData *m_material;
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int m_nodeIndices[4]; // Node pointers
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float m_restVolume; // Rest volume
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float m_c1; // (4*kVST)/(im0+im1+im2+im3)
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float m_c2; // m_c1/sum(|g0..3|^2)
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int m_pad;
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};
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struct SoftRigidAnchorData
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{
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btMatrix3x3FloatData m_c0; // Impulse matrix
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btVector3FloatData m_c1; // Relative anchor
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btVector3FloatData m_localFrame; // Anchor position in body space
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btRigidBodyData *m_rigidBody;
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int m_nodeIndex; // Node pointer
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float m_c2; // ima*dt
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};
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struct SoftBodyConfigData
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{
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int m_aeroModel; // Aerodynamic model (default: V_Point)
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float m_baumgarte; // Velocities correction factor (Baumgarte)
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float m_damping; // Damping coefficient [0,1]
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float m_drag; // Drag coefficient [0,+inf]
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float m_lift; // Lift coefficient [0,+inf]
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float m_pressure; // Pressure coefficient [-inf,+inf]
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float m_volume; // Volume conversation coefficient [0,+inf]
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float m_dynamicFriction; // Dynamic friction coefficient [0,1]
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float m_poseMatch; // Pose matching coefficient [0,1]
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float m_rigidContactHardness; // Rigid contacts hardness [0,1]
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float m_kineticContactHardness; // Kinetic contacts hardness [0,1]
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float m_softContactHardness; // Soft contacts hardness [0,1]
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float m_anchorHardness; // Anchors hardness [0,1]
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float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only)
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float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only)
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float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only)
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float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
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float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
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float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
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float m_maxVolume; // Maximum volume ratio for pose
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float m_timeScale; // Time scale
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int m_velocityIterations; // Velocities solver iterations
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int m_positionIterations; // Positions solver iterations
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int m_driftIterations; // Drift solver iterations
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int m_clusterIterations; // Cluster solver iterations
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int m_collisionFlags; // Collisions flags
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};
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struct SoftBodyPoseData
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{
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btMatrix3x3FloatData m_rot; // Rotation
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btMatrix3x3FloatData m_scale; // Scale
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btMatrix3x3FloatData m_aqq; // Base scaling
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btVector3FloatData m_com; // COM
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btVector3FloatData *m_positions; // Reference positions
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float *m_weights; // Weights
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int m_numPositions;
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int m_numWeigts;
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int m_bvolume; // Is valid
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int m_bframe; // Is frame
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float m_restVolume; // Rest volume
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int m_pad;
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};
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struct SoftBodyClusterData
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{
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btTransformFloatData m_framexform;
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btMatrix3x3FloatData m_locii;
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btMatrix3x3FloatData m_invwi;
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btVector3FloatData m_com;
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btVector3FloatData m_vimpulses[2];
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btVector3FloatData m_dimpulses[2];
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btVector3FloatData m_lv;
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btVector3FloatData m_av;
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btVector3FloatData *m_framerefs;
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int *m_nodeIndices;
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float *m_masses;
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int m_numFrameRefs;
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int m_numNodes;
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int m_numMasses;
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float m_idmass;
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float m_imass;
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int m_nvimpulses;
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int m_ndimpulses;
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float m_ndamping;
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float m_ldamping;
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float m_adamping;
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float m_matching;
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float m_maxSelfCollisionImpulse;
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float m_selfCollisionImpulseFactor;
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int m_containsAnchor;
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int m_collide;
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int m_clusterIndex;
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};
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enum btSoftJointBodyType
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{
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BT_JOINT_SOFT_BODY_CLUSTER=1,
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BT_JOINT_RIGID_BODY,
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BT_JOINT_COLLISION_OBJECT
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};
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struct btSoftBodyJointData
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{
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void *m_bodyA;
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void *m_bodyB;
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btVector3FloatData m_refs[2];
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float m_cfm;
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float m_erp;
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float m_split;
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int m_delete;
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btVector3FloatData m_relPosition[2];//linear
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int m_bodyAtype;
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int m_bodyBtype;
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int m_jointType;
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int m_pad;
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btSoftBodyFloatData
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{
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btCollisionObjectFloatData m_collisionObjectData;
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SoftBodyPoseData *m_pose;
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SoftBodyMaterialData **m_materials;
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SoftBodyNodeData *m_nodes;
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SoftBodyLinkData *m_links;
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SoftBodyFaceData *m_faces;
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SoftBodyTetraData *m_tetrahedra;
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SoftRigidAnchorData *m_anchors;
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SoftBodyClusterData *m_clusters;
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btSoftBodyJointData *m_joints;
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int m_numMaterials;
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int m_numNodes;
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int m_numLinks;
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int m_numFaces;
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int m_numTetrahedra;
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int m_numAnchors;
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int m_numClusters;
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int m_numJoints;
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SoftBodyConfigData m_config;
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};
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#endif //BT_SOFTBODY_FLOAT_DATA
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