mirror of
https://github.com/harfang3d/harfang3d.git
synced 2024-06-16 12:03:04 +00:00
1580 lines
46 KiB
C++
1580 lines
46 KiB
C++
/* Copyright (C) 2011 Erwin Coumans & Charlie C
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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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
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* 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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// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
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#ifndef __BULLET_H__
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#define __BULLET_H__
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namespace Bullet {
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// put an empty struct in the case
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typedef struct bInvalidHandle {
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int unused;
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}bInvalidHandle;
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class PointerArray;
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class btPhysicsSystem;
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class ListBase;
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class btVector3FloatData;
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class btVector3DoubleData;
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class btQuaternionFloatData;
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class btQuaternionDoubleData;
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class btMatrix3x3FloatData;
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class btMatrix3x3DoubleData;
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class btTransformFloatData;
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class btTransformDoubleData;
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class btBvhSubtreeInfoData;
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class btOptimizedBvhNodeFloatData;
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class btOptimizedBvhNodeDoubleData;
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class btQuantizedBvhNodeData;
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class btQuantizedBvhFloatData;
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class btQuantizedBvhDoubleData;
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class btCollisionShapeData;
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class btStaticPlaneShapeData;
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class btConvexInternalShapeData;
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class btPositionAndRadius;
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class btMultiSphereShapeData;
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class btIntIndexData;
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class btShortIntIndexData;
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class btShortIntIndexTripletData;
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class btCharIndexTripletData;
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class btMeshPartData;
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class btStridingMeshInterfaceData;
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class btTriangleMeshShapeData;
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class btScaledTriangleMeshShapeData;
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class btCompoundShapeChildData;
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class btCompoundShapeData;
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class btCylinderShapeData;
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class btConeShapeData;
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class btCapsuleShapeData;
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class btTriangleInfoData;
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class btTriangleInfoMapData;
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class btPersistentManifoldDoubleData;
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class btPersistentManifoldFloatData;
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class btGImpactMeshShapeData;
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class btConvexHullShapeData;
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class btCollisionObjectDoubleData;
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class btCollisionObjectFloatData;
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class btContactSolverInfoDoubleData;
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class btContactSolverInfoFloatData;
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class btDynamicsWorldDoubleData;
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class btDynamicsWorldFloatData;
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class btRigidBodyFloatData;
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class btRigidBodyDoubleData;
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class btConstraintInfo1;
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class btTypedConstraintFloatData;
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class btTypedConstraintData;
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class btTypedConstraintDoubleData;
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class btPoint2PointConstraintFloatData;
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class btPoint2PointConstraintDoubleData2;
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class btPoint2PointConstraintDoubleData;
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class btHingeConstraintDoubleData;
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class btHingeConstraintFloatData;
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class btHingeConstraintDoubleData2;
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class btConeTwistConstraintDoubleData;
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class btConeTwistConstraintData;
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class btGeneric6DofConstraintData;
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class btGeneric6DofConstraintDoubleData2;
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class btGeneric6DofSpringConstraintData;
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class btGeneric6DofSpringConstraintDoubleData2;
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class btGeneric6DofSpring2ConstraintData;
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class btGeneric6DofSpring2ConstraintDoubleData2;
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class btSliderConstraintData;
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class btSliderConstraintDoubleData;
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class btGearConstraintFloatData;
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class btGearConstraintDoubleData;
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class SoftBodyMaterialData;
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class SoftBodyNodeData;
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class SoftBodyLinkData;
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class SoftBodyFaceData;
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class SoftBodyTetraData;
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class SoftRigidAnchorData;
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class SoftBodyConfigData;
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class SoftBodyPoseData;
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class SoftBodyClusterData;
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class btSoftBodyJointData;
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class btSoftBodyFloatData;
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class btMultiBodyLinkDoubleData;
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class btMultiBodyLinkFloatData;
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class btMultiBodyDoubleData;
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class btMultiBodyFloatData;
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class btMultiBodyLinkColliderFloatData;
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class btMultiBodyLinkColliderDoubleData;
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// -------------------------------------------------- //
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class PointerArray
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{
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public:
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int m_size;
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int m_capacity;
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void *m_data;
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};
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// -------------------------------------------------- //
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class btPhysicsSystem
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{
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public:
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PointerArray m_collisionShapes;
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PointerArray m_collisionObjects;
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PointerArray m_constraints;
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};
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// -------------------------------------------------- //
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class ListBase
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{
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public:
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void *first;
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void *last;
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};
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// -------------------------------------------------- //
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class btVector3FloatData
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{
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public:
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float m_floats[4];
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};
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// -------------------------------------------------- //
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class btVector3DoubleData
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{
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public:
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double m_floats[4];
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};
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// -------------------------------------------------- //
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class btQuaternionFloatData
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{
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public:
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float m_floats[4];
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};
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// -------------------------------------------------- //
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class btQuaternionDoubleData
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{
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public:
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double m_floats[4];
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};
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// -------------------------------------------------- //
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class btMatrix3x3FloatData
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{
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public:
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btVector3FloatData m_el[3];
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};
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// -------------------------------------------------- //
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class btMatrix3x3DoubleData
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{
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public:
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btVector3DoubleData m_el[3];
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};
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// -------------------------------------------------- //
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class btTransformFloatData
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{
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public:
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btMatrix3x3FloatData m_basis;
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btVector3FloatData m_origin;
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};
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// -------------------------------------------------- //
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class btTransformDoubleData
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{
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public:
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btMatrix3x3DoubleData m_basis;
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btVector3DoubleData m_origin;
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};
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// -------------------------------------------------- //
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class btBvhSubtreeInfoData
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{
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public:
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int m_rootNodeIndex;
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int m_subtreeSize;
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short m_quantizedAabbMin[3];
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short m_quantizedAabbMax[3];
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};
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// -------------------------------------------------- //
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class btOptimizedBvhNodeFloatData
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{
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public:
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btVector3FloatData m_aabbMinOrg;
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btVector3FloatData m_aabbMaxOrg;
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int m_escapeIndex;
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int m_subPart;
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int m_triangleIndex;
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char m_pad[4];
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};
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// -------------------------------------------------- //
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class btOptimizedBvhNodeDoubleData
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{
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public:
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btVector3DoubleData m_aabbMinOrg;
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btVector3DoubleData m_aabbMaxOrg;
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int m_escapeIndex;
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int m_subPart;
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int m_triangleIndex;
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char m_pad[4];
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};
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// -------------------------------------------------- //
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class btQuantizedBvhNodeData
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{
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public:
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short m_quantizedAabbMin[3];
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short m_quantizedAabbMax[3];
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int m_escapeIndexOrTriangleIndex;
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};
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// -------------------------------------------------- //
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class btQuantizedBvhFloatData
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{
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public:
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btVector3FloatData m_bvhAabbMin;
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btVector3FloatData m_bvhAabbMax;
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btVector3FloatData m_bvhQuantization;
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int m_curNodeIndex;
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int m_useQuantization;
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int m_numContiguousLeafNodes;
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int m_numQuantizedContiguousNodes;
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btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
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btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
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btBvhSubtreeInfoData *m_subTreeInfoPtr;
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int m_traversalMode;
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int m_numSubtreeHeaders;
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};
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// -------------------------------------------------- //
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class btQuantizedBvhDoubleData
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{
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public:
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btVector3DoubleData m_bvhAabbMin;
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btVector3DoubleData m_bvhAabbMax;
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btVector3DoubleData m_bvhQuantization;
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int m_curNodeIndex;
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int m_useQuantization;
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int m_numContiguousLeafNodes;
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int m_numQuantizedContiguousNodes;
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btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
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btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
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int m_traversalMode;
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int m_numSubtreeHeaders;
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btBvhSubtreeInfoData *m_subTreeInfoPtr;
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};
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// -------------------------------------------------- //
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class btCollisionShapeData
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{
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public:
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char *m_name;
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int m_shapeType;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btStaticPlaneShapeData
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{
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public:
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btCollisionShapeData m_collisionShapeData;
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btVector3FloatData m_localScaling;
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btVector3FloatData m_planeNormal;
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float m_planeConstant;
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char m_pad[4];
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};
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// -------------------------------------------------- //
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class btConvexInternalShapeData
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{
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public:
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btCollisionShapeData m_collisionShapeData;
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btVector3FloatData m_localScaling;
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btVector3FloatData m_implicitShapeDimensions;
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float m_collisionMargin;
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int m_padding;
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};
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// -------------------------------------------------- //
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class btPositionAndRadius
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{
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public:
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btVector3FloatData m_pos;
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float m_radius;
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};
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// -------------------------------------------------- //
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class btMultiSphereShapeData
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{
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public:
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btConvexInternalShapeData m_convexInternalShapeData;
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btPositionAndRadius *m_localPositionArrayPtr;
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int m_localPositionArraySize;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btIntIndexData
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{
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public:
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int m_value;
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};
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// -------------------------------------------------- //
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class btShortIntIndexData
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{
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public:
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short m_value;
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char m_pad[2];
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};
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// -------------------------------------------------- //
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class btShortIntIndexTripletData
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{
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public:
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short m_values[3];
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char m_pad[2];
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};
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// -------------------------------------------------- //
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class btCharIndexTripletData
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{
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public:
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char m_values[3];
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char m_pad;
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};
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// -------------------------------------------------- //
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class btMeshPartData
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{
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public:
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btVector3FloatData *m_vertices3f;
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btVector3DoubleData *m_vertices3d;
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btIntIndexData *m_indices32;
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btShortIntIndexTripletData *m_3indices16;
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btCharIndexTripletData *m_3indices8;
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btShortIntIndexData *m_indices16;
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int m_numTriangles;
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int m_numVertices;
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};
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// -------------------------------------------------- //
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class btStridingMeshInterfaceData
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{
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public:
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btMeshPartData *m_meshPartsPtr;
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btVector3FloatData m_scaling;
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int m_numMeshParts;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btTriangleMeshShapeData
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{
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public:
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btCollisionShapeData m_collisionShapeData;
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btStridingMeshInterfaceData m_meshInterface;
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btQuantizedBvhFloatData *m_quantizedFloatBvh;
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btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
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btTriangleInfoMapData *m_triangleInfoMap;
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float m_collisionMargin;
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char m_pad3[4];
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};
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// -------------------------------------------------- //
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class btScaledTriangleMeshShapeData
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{
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public:
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btTriangleMeshShapeData m_trimeshShapeData;
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btVector3FloatData m_localScaling;
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};
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// -------------------------------------------------- //
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class btCompoundShapeChildData
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{
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public:
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btTransformFloatData m_transform;
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btCollisionShapeData *m_childShape;
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int m_childShapeType;
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float m_childMargin;
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};
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// -------------------------------------------------- //
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class btCompoundShapeData
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{
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public:
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btCollisionShapeData m_collisionShapeData;
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btCompoundShapeChildData *m_childShapePtr;
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int m_numChildShapes;
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float m_collisionMargin;
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};
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// -------------------------------------------------- //
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class btCylinderShapeData
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{
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public:
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btConvexInternalShapeData m_convexInternalShapeData;
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int m_upAxis;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btConeShapeData
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{
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public:
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btConvexInternalShapeData m_convexInternalShapeData;
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int m_upIndex;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btCapsuleShapeData
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{
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public:
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btConvexInternalShapeData m_convexInternalShapeData;
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int m_upAxis;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btTriangleInfoData
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{
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public:
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int m_flags;
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float m_edgeV0V1Angle;
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float m_edgeV1V2Angle;
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float m_edgeV2V0Angle;
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};
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// -------------------------------------------------- //
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class btTriangleInfoMapData
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{
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public:
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int *m_hashTablePtr;
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int *m_nextPtr;
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btTriangleInfoData *m_valueArrayPtr;
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int *m_keyArrayPtr;
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float m_convexEpsilon;
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float m_planarEpsilon;
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float m_equalVertexThreshold;
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float m_edgeDistanceThreshold;
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float m_zeroAreaThreshold;
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int m_nextSize;
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int m_hashTableSize;
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int m_numValues;
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int m_numKeys;
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char m_padding[4];
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};
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// -------------------------------------------------- //
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class btPersistentManifoldDoubleData
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{
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public:
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btVector3DoubleData m_pointCacheLocalPointA[4];
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btVector3DoubleData m_pointCacheLocalPointB[4];
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btVector3DoubleData m_pointCachePositionWorldOnA[4];
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btVector3DoubleData m_pointCachePositionWorldOnB[4];
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btVector3DoubleData m_pointCacheNormalWorldOnB[4];
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btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
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btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
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double m_pointCacheDistance[4];
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double m_pointCacheAppliedImpulse[4];
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double m_pointCachePrevRHS[4];
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double m_pointCacheCombinedFriction[4];
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double m_pointCacheCombinedRollingFriction[4];
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double m_pointCacheCombinedSpinningFriction[4];
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double m_pointCacheCombinedRestitution[4];
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int m_pointCachePartId0[4];
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int m_pointCachePartId1[4];
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int m_pointCacheIndex0[4];
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int m_pointCacheIndex1[4];
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int m_pointCacheContactPointFlags[4];
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double m_pointCacheAppliedImpulseLateral1[4];
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double m_pointCacheAppliedImpulseLateral2[4];
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double m_pointCacheContactMotion1[4];
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double m_pointCacheContactMotion2[4];
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double m_pointCacheContactCFM[4];
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double m_pointCacheCombinedContactStiffness1[4];
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|
double m_pointCacheContactERP[4];
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|
double m_pointCacheCombinedContactDamping1[4];
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double m_pointCacheFrictionCFM[4];
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int m_pointCacheLifeTime[4];
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|
int m_numCachedPoints;
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|
int m_companionIdA;
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|
int m_companionIdB;
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|
int m_index1a;
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|
int m_objectType;
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double m_contactBreakingThreshold;
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double m_contactProcessingThreshold;
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|
int m_padding;
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btCollisionObjectDoubleData *m_body0;
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btCollisionObjectDoubleData *m_body1;
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};
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|
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// -------------------------------------------------- //
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|
class btPersistentManifoldFloatData
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{
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public:
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btVector3FloatData m_pointCacheLocalPointA[4];
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btVector3FloatData m_pointCacheLocalPointB[4];
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|
btVector3FloatData m_pointCachePositionWorldOnA[4];
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|
btVector3FloatData m_pointCachePositionWorldOnB[4];
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|
btVector3FloatData m_pointCacheNormalWorldOnB[4];
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|
btVector3FloatData m_pointCacheLateralFrictionDir1[4];
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|
btVector3FloatData m_pointCacheLateralFrictionDir2[4];
|
|
float m_pointCacheDistance[4];
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|
float m_pointCacheAppliedImpulse[4];
|
|
float m_pointCachePrevRHS[4];
|
|
float m_pointCacheCombinedFriction[4];
|
|
float m_pointCacheCombinedRollingFriction[4];
|
|
float m_pointCacheCombinedSpinningFriction[4];
|
|
float m_pointCacheCombinedRestitution[4];
|
|
int m_pointCachePartId0[4];
|
|
int m_pointCachePartId1[4];
|
|
int m_pointCacheIndex0[4];
|
|
int m_pointCacheIndex1[4];
|
|
int m_pointCacheContactPointFlags[4];
|
|
float m_pointCacheAppliedImpulseLateral1[4];
|
|
float m_pointCacheAppliedImpulseLateral2[4];
|
|
float m_pointCacheContactMotion1[4];
|
|
float m_pointCacheContactMotion2[4];
|
|
float m_pointCacheContactCFM[4];
|
|
float m_pointCacheCombinedContactStiffness1[4];
|
|
float m_pointCacheContactERP[4];
|
|
float m_pointCacheCombinedContactDamping1[4];
|
|
float m_pointCacheFrictionCFM[4];
|
|
int m_pointCacheLifeTime[4];
|
|
int m_numCachedPoints;
|
|
int m_companionIdA;
|
|
int m_companionIdB;
|
|
int m_index1a;
|
|
int m_objectType;
|
|
float m_contactBreakingThreshold;
|
|
float m_contactProcessingThreshold;
|
|
int m_padding;
|
|
btCollisionObjectFloatData *m_body0;
|
|
btCollisionObjectFloatData *m_body1;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGImpactMeshShapeData
|
|
{
|
|
public:
|
|
btCollisionShapeData m_collisionShapeData;
|
|
btStridingMeshInterfaceData m_meshInterface;
|
|
btVector3FloatData m_localScaling;
|
|
float m_collisionMargin;
|
|
int m_gimpactSubType;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btConvexHullShapeData
|
|
{
|
|
public:
|
|
btConvexInternalShapeData m_convexInternalShapeData;
|
|
btVector3FloatData *m_unscaledPointsFloatPtr;
|
|
btVector3DoubleData *m_unscaledPointsDoublePtr;
|
|
int m_numUnscaledPoints;
|
|
char m_padding3[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btCollisionObjectDoubleData
|
|
{
|
|
public:
|
|
void *m_broadphaseHandle;
|
|
void *m_collisionShape;
|
|
btCollisionShapeData *m_rootCollisionShape;
|
|
char *m_name;
|
|
btTransformDoubleData m_worldTransform;
|
|
btTransformDoubleData m_interpolationWorldTransform;
|
|
btVector3DoubleData m_interpolationLinearVelocity;
|
|
btVector3DoubleData m_interpolationAngularVelocity;
|
|
btVector3DoubleData m_anisotropicFriction;
|
|
double m_contactProcessingThreshold;
|
|
double m_deactivationTime;
|
|
double m_friction;
|
|
double m_rollingFriction;
|
|
double m_contactDamping;
|
|
double m_contactStiffness;
|
|
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;
|
|
int m_collisionFilterGroup;
|
|
int m_collisionFilterMask;
|
|
int m_uniqueId;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btCollisionObjectFloatData
|
|
{
|
|
public:
|
|
void *m_broadphaseHandle;
|
|
void *m_collisionShape;
|
|
btCollisionShapeData *m_rootCollisionShape;
|
|
char *m_name;
|
|
btTransformFloatData m_worldTransform;
|
|
btTransformFloatData m_interpolationWorldTransform;
|
|
btVector3FloatData m_interpolationLinearVelocity;
|
|
btVector3FloatData m_interpolationAngularVelocity;
|
|
btVector3FloatData m_anisotropicFriction;
|
|
float m_contactProcessingThreshold;
|
|
float m_deactivationTime;
|
|
float m_friction;
|
|
float m_rollingFriction;
|
|
float m_contactDamping;
|
|
float m_contactStiffness;
|
|
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;
|
|
int m_collisionFilterGroup;
|
|
int m_collisionFilterMask;
|
|
int m_uniqueId;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btContactSolverInfoDoubleData
|
|
{
|
|
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_articulatedWarmstartingFactor;
|
|
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 btContactSolverInfoFloatData
|
|
{
|
|
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_articulatedWarmstartingFactor;
|
|
float m_maxGyroscopicForce;
|
|
float m_singleAxisRollingFrictionThreshold;
|
|
int m_numIterations;
|
|
int m_solverMode;
|
|
int m_restingContactRestitutionThreshold;
|
|
int m_minimumSolverBatchSize;
|
|
int m_splitImpulse;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btDynamicsWorldDoubleData
|
|
{
|
|
public:
|
|
btContactSolverInfoDoubleData m_solverInfo;
|
|
btVector3DoubleData m_gravity;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btDynamicsWorldFloatData
|
|
{
|
|
public:
|
|
btContactSolverInfoFloatData m_solverInfo;
|
|
btVector3FloatData m_gravity;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btRigidBodyFloatData
|
|
{
|
|
public:
|
|
btCollisionObjectFloatData m_collisionObjectData;
|
|
btMatrix3x3FloatData m_invInertiaTensorWorld;
|
|
btVector3FloatData m_linearVelocity;
|
|
btVector3FloatData m_angularVelocity;
|
|
btVector3FloatData m_angularFactor;
|
|
btVector3FloatData m_linearFactor;
|
|
btVector3FloatData m_gravity;
|
|
btVector3FloatData m_gravity_acceleration;
|
|
btVector3FloatData m_invInertiaLocal;
|
|
btVector3FloatData m_totalForce;
|
|
btVector3FloatData 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 btRigidBodyDoubleData
|
|
{
|
|
public:
|
|
btCollisionObjectDoubleData m_collisionObjectData;
|
|
btMatrix3x3DoubleData m_invInertiaTensorWorld;
|
|
btVector3DoubleData m_linearVelocity;
|
|
btVector3DoubleData m_angularVelocity;
|
|
btVector3DoubleData m_angularFactor;
|
|
btVector3DoubleData m_linearFactor;
|
|
btVector3DoubleData m_gravity;
|
|
btVector3DoubleData m_gravity_acceleration;
|
|
btVector3DoubleData m_invInertiaLocal;
|
|
btVector3DoubleData m_totalForce;
|
|
btVector3DoubleData 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 btConstraintInfo1
|
|
{
|
|
public:
|
|
int m_numConstraintRows;
|
|
int nub;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btTypedConstraintFloatData
|
|
{
|
|
public:
|
|
btRigidBodyFloatData *m_rbA;
|
|
btRigidBodyFloatData *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 btTypedConstraintData
|
|
{
|
|
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 btTypedConstraintDoubleData
|
|
{
|
|
public:
|
|
btRigidBodyDoubleData *m_rbA;
|
|
btRigidBodyDoubleData *m_rbB;
|
|
char *m_name;
|
|
int m_objectType;
|
|
int m_userConstraintType;
|
|
int m_userConstraintId;
|
|
int m_needsFeedback;
|
|
double m_appliedImpulse;
|
|
double m_dbgDrawSize;
|
|
int m_disableCollisionsBetweenLinkedBodies;
|
|
int m_overrideNumSolverIterations;
|
|
double m_breakingImpulseThreshold;
|
|
int m_isEnabled;
|
|
char padding[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btPoint2PointConstraintFloatData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btVector3FloatData m_pivotInA;
|
|
btVector3FloatData m_pivotInB;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btPoint2PointConstraintDoubleData2
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btVector3DoubleData m_pivotInA;
|
|
btVector3DoubleData m_pivotInB;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btPoint2PointConstraintDoubleData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btVector3DoubleData m_pivotInA;
|
|
btVector3DoubleData m_pivotInB;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btHingeConstraintDoubleData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData 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 btHingeConstraintFloatData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame;
|
|
btTransformFloatData 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 btHingeConstraintDoubleData2
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData m_rbBFrame;
|
|
int m_useReferenceFrameA;
|
|
int m_angularOnly;
|
|
int m_enableAngularMotor;
|
|
double m_motorTargetVelocity;
|
|
double m_maxMotorImpulse;
|
|
double m_lowerLimit;
|
|
double m_upperLimit;
|
|
double m_limitSoftness;
|
|
double m_biasFactor;
|
|
double m_relaxationFactor;
|
|
char m_padding1[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btConeTwistConstraintDoubleData
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData m_rbBFrame;
|
|
double m_swingSpan1;
|
|
double m_swingSpan2;
|
|
double m_twistSpan;
|
|
double m_limitSoftness;
|
|
double m_biasFactor;
|
|
double m_relaxationFactor;
|
|
double m_damping;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btConeTwistConstraintData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame;
|
|
btTransformFloatData 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 btGeneric6DofConstraintData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame;
|
|
btTransformFloatData m_rbBFrame;
|
|
btVector3FloatData m_linearUpperLimit;
|
|
btVector3FloatData m_linearLowerLimit;
|
|
btVector3FloatData m_angularUpperLimit;
|
|
btVector3FloatData m_angularLowerLimit;
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGeneric6DofConstraintDoubleData2
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData m_rbBFrame;
|
|
btVector3DoubleData m_linearUpperLimit;
|
|
btVector3DoubleData m_linearLowerLimit;
|
|
btVector3DoubleData m_angularUpperLimit;
|
|
btVector3DoubleData m_angularLowerLimit;
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGeneric6DofSpringConstraintData
|
|
{
|
|
public:
|
|
btGeneric6DofConstraintData m_6dofData;
|
|
int m_springEnabled[6];
|
|
float m_equilibriumPoint[6];
|
|
float m_springStiffness[6];
|
|
float m_springDamping[6];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGeneric6DofSpringConstraintDoubleData2
|
|
{
|
|
public:
|
|
btGeneric6DofConstraintDoubleData2 m_6dofData;
|
|
int m_springEnabled[6];
|
|
double m_equilibriumPoint[6];
|
|
double m_springStiffness[6];
|
|
double m_springDamping[6];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGeneric6DofSpring2ConstraintData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame;
|
|
btTransformFloatData m_rbBFrame;
|
|
btVector3FloatData m_linearUpperLimit;
|
|
btVector3FloatData m_linearLowerLimit;
|
|
btVector3FloatData m_linearBounce;
|
|
btVector3FloatData m_linearStopERP;
|
|
btVector3FloatData m_linearStopCFM;
|
|
btVector3FloatData m_linearMotorERP;
|
|
btVector3FloatData m_linearMotorCFM;
|
|
btVector3FloatData m_linearTargetVelocity;
|
|
btVector3FloatData m_linearMaxMotorForce;
|
|
btVector3FloatData m_linearServoTarget;
|
|
btVector3FloatData m_linearSpringStiffness;
|
|
btVector3FloatData m_linearSpringDamping;
|
|
btVector3FloatData m_linearEquilibriumPoint;
|
|
char m_linearEnableMotor[4];
|
|
char m_linearServoMotor[4];
|
|
char m_linearEnableSpring[4];
|
|
char m_linearSpringStiffnessLimited[4];
|
|
char m_linearSpringDampingLimited[4];
|
|
char m_padding1[4];
|
|
btVector3FloatData m_angularUpperLimit;
|
|
btVector3FloatData m_angularLowerLimit;
|
|
btVector3FloatData m_angularBounce;
|
|
btVector3FloatData m_angularStopERP;
|
|
btVector3FloatData m_angularStopCFM;
|
|
btVector3FloatData m_angularMotorERP;
|
|
btVector3FloatData m_angularMotorCFM;
|
|
btVector3FloatData m_angularTargetVelocity;
|
|
btVector3FloatData m_angularMaxMotorForce;
|
|
btVector3FloatData m_angularServoTarget;
|
|
btVector3FloatData m_angularSpringStiffness;
|
|
btVector3FloatData m_angularSpringDamping;
|
|
btVector3FloatData m_angularEquilibriumPoint;
|
|
char m_angularEnableMotor[4];
|
|
char m_angularServoMotor[4];
|
|
char m_angularEnableSpring[4];
|
|
char m_angularSpringStiffnessLimited[4];
|
|
char m_angularSpringDampingLimited[4];
|
|
int m_rotateOrder;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGeneric6DofSpring2ConstraintDoubleData2
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData m_rbBFrame;
|
|
btVector3DoubleData m_linearUpperLimit;
|
|
btVector3DoubleData m_linearLowerLimit;
|
|
btVector3DoubleData m_linearBounce;
|
|
btVector3DoubleData m_linearStopERP;
|
|
btVector3DoubleData m_linearStopCFM;
|
|
btVector3DoubleData m_linearMotorERP;
|
|
btVector3DoubleData m_linearMotorCFM;
|
|
btVector3DoubleData m_linearTargetVelocity;
|
|
btVector3DoubleData m_linearMaxMotorForce;
|
|
btVector3DoubleData m_linearServoTarget;
|
|
btVector3DoubleData m_linearSpringStiffness;
|
|
btVector3DoubleData m_linearSpringDamping;
|
|
btVector3DoubleData m_linearEquilibriumPoint;
|
|
char m_linearEnableMotor[4];
|
|
char m_linearServoMotor[4];
|
|
char m_linearEnableSpring[4];
|
|
char m_linearSpringStiffnessLimited[4];
|
|
char m_linearSpringDampingLimited[4];
|
|
char m_padding1[4];
|
|
btVector3DoubleData m_angularUpperLimit;
|
|
btVector3DoubleData m_angularLowerLimit;
|
|
btVector3DoubleData m_angularBounce;
|
|
btVector3DoubleData m_angularStopERP;
|
|
btVector3DoubleData m_angularStopCFM;
|
|
btVector3DoubleData m_angularMotorERP;
|
|
btVector3DoubleData m_angularMotorCFM;
|
|
btVector3DoubleData m_angularTargetVelocity;
|
|
btVector3DoubleData m_angularMaxMotorForce;
|
|
btVector3DoubleData m_angularServoTarget;
|
|
btVector3DoubleData m_angularSpringStiffness;
|
|
btVector3DoubleData m_angularSpringDamping;
|
|
btVector3DoubleData m_angularEquilibriumPoint;
|
|
char m_angularEnableMotor[4];
|
|
char m_angularServoMotor[4];
|
|
char m_angularEnableSpring[4];
|
|
char m_angularSpringStiffnessLimited[4];
|
|
char m_angularSpringDampingLimited[4];
|
|
int m_rotateOrder;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btSliderConstraintData
|
|
{
|
|
public:
|
|
btTypedConstraintData m_typeConstraintData;
|
|
btTransformFloatData m_rbAFrame;
|
|
btTransformFloatData m_rbBFrame;
|
|
float m_linearUpperLimit;
|
|
float m_linearLowerLimit;
|
|
float m_angularUpperLimit;
|
|
float m_angularLowerLimit;
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btSliderConstraintDoubleData
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btTransformDoubleData m_rbAFrame;
|
|
btTransformDoubleData m_rbBFrame;
|
|
double m_linearUpperLimit;
|
|
double m_linearLowerLimit;
|
|
double m_angularUpperLimit;
|
|
double m_angularLowerLimit;
|
|
int m_useLinearReferenceFrameA;
|
|
int m_useOffsetForConstraintFrame;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGearConstraintFloatData
|
|
{
|
|
public:
|
|
btTypedConstraintFloatData m_typeConstraintData;
|
|
btVector3FloatData m_axisInA;
|
|
btVector3FloatData m_axisInB;
|
|
float m_ratio;
|
|
char m_padding[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btGearConstraintDoubleData
|
|
{
|
|
public:
|
|
btTypedConstraintDoubleData m_typeConstraintData;
|
|
btVector3DoubleData m_axisInA;
|
|
btVector3DoubleData m_axisInB;
|
|
double m_ratio;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class SoftBodyMaterialData
|
|
{
|
|
public:
|
|
float m_linearStiffness;
|
|
float m_angularStiffness;
|
|
float m_volumeStiffness;
|
|
int m_flags;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class SoftBodyNodeData
|
|
{
|
|
public:
|
|
SoftBodyMaterialData *m_material;
|
|
btVector3FloatData m_position;
|
|
btVector3FloatData m_previousPosition;
|
|
btVector3FloatData m_velocity;
|
|
btVector3FloatData m_accumulatedForce;
|
|
btVector3FloatData 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:
|
|
btVector3FloatData m_normal;
|
|
SoftBodyMaterialData *m_material;
|
|
int m_nodeIndices[3];
|
|
float m_restArea;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class SoftBodyTetraData
|
|
{
|
|
public:
|
|
btVector3FloatData 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:
|
|
btMatrix3x3FloatData m_c0;
|
|
btVector3FloatData m_c1;
|
|
btVector3FloatData 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:
|
|
btMatrix3x3FloatData m_rot;
|
|
btMatrix3x3FloatData m_scale;
|
|
btMatrix3x3FloatData m_aqq;
|
|
btVector3FloatData m_com;
|
|
btVector3FloatData *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:
|
|
btTransformFloatData m_framexform;
|
|
btMatrix3x3FloatData m_locii;
|
|
btMatrix3x3FloatData m_invwi;
|
|
btVector3FloatData m_com;
|
|
btVector3FloatData m_vimpulses[2];
|
|
btVector3FloatData m_dimpulses[2];
|
|
btVector3FloatData m_lv;
|
|
btVector3FloatData m_av;
|
|
btVector3FloatData *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 btSoftBodyJointData
|
|
{
|
|
public:
|
|
void *m_bodyA;
|
|
void *m_bodyB;
|
|
btVector3FloatData m_refs[2];
|
|
float m_cfm;
|
|
float m_erp;
|
|
float m_split;
|
|
int m_delete;
|
|
btVector3FloatData m_relPosition[2];
|
|
int m_bodyAtype;
|
|
int m_bodyBtype;
|
|
int m_jointType;
|
|
int m_pad;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btSoftBodyFloatData
|
|
{
|
|
public:
|
|
btCollisionObjectFloatData 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;
|
|
btSoftBodyJointData *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;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyLinkDoubleData
|
|
{
|
|
public:
|
|
btQuaternionDoubleData m_zeroRotParentToThis;
|
|
btVector3DoubleData m_parentComToThisPivotOffset;
|
|
btVector3DoubleData m_thisPivotToThisComOffset;
|
|
btVector3DoubleData m_jointAxisTop[6];
|
|
btVector3DoubleData m_jointAxisBottom[6];
|
|
btVector3DoubleData m_linkInertia;
|
|
btVector3DoubleData m_absFrameTotVelocityTop;
|
|
btVector3DoubleData m_absFrameTotVelocityBottom;
|
|
btVector3DoubleData m_absFrameLocVelocityTop;
|
|
btVector3DoubleData m_absFrameLocVelocityBottom;
|
|
double m_linkMass;
|
|
int m_parentIndex;
|
|
int m_jointType;
|
|
int m_dofCount;
|
|
int m_posVarCount;
|
|
double m_jointPos[7];
|
|
double m_jointVel[6];
|
|
double m_jointTorque[6];
|
|
double m_jointDamping;
|
|
double m_jointFriction;
|
|
double m_jointLowerLimit;
|
|
double m_jointUpperLimit;
|
|
double m_jointMaxForce;
|
|
double m_jointMaxVelocity;
|
|
char *m_linkName;
|
|
char *m_jointName;
|
|
btCollisionObjectDoubleData *m_linkCollider;
|
|
char *m_paddingPtr;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyLinkFloatData
|
|
{
|
|
public:
|
|
btQuaternionFloatData m_zeroRotParentToThis;
|
|
btVector3FloatData m_parentComToThisPivotOffset;
|
|
btVector3FloatData m_thisPivotToThisComOffset;
|
|
btVector3FloatData m_jointAxisTop[6];
|
|
btVector3FloatData m_jointAxisBottom[6];
|
|
btVector3FloatData m_linkInertia;
|
|
btVector3FloatData m_absFrameTotVelocityTop;
|
|
btVector3FloatData m_absFrameTotVelocityBottom;
|
|
btVector3FloatData m_absFrameLocVelocityTop;
|
|
btVector3FloatData m_absFrameLocVelocityBottom;
|
|
int m_dofCount;
|
|
float m_linkMass;
|
|
int m_parentIndex;
|
|
int m_jointType;
|
|
float m_jointPos[7];
|
|
float m_jointVel[6];
|
|
float m_jointTorque[6];
|
|
int m_posVarCount;
|
|
float m_jointDamping;
|
|
float m_jointFriction;
|
|
float m_jointLowerLimit;
|
|
float m_jointUpperLimit;
|
|
float m_jointMaxForce;
|
|
float m_jointMaxVelocity;
|
|
char *m_linkName;
|
|
char *m_jointName;
|
|
btCollisionObjectFloatData *m_linkCollider;
|
|
char *m_paddingPtr;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyDoubleData
|
|
{
|
|
public:
|
|
btVector3DoubleData m_baseWorldPosition;
|
|
btQuaternionDoubleData m_baseWorldOrientation;
|
|
btVector3DoubleData m_baseLinearVelocity;
|
|
btVector3DoubleData m_baseAngularVelocity;
|
|
btVector3DoubleData m_baseInertia;
|
|
double m_baseMass;
|
|
int m_numLinks;
|
|
char m_padding[4];
|
|
char *m_baseName;
|
|
btMultiBodyLinkDoubleData *m_links;
|
|
btCollisionObjectDoubleData *m_baseCollider;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyFloatData
|
|
{
|
|
public:
|
|
btVector3FloatData m_baseWorldPosition;
|
|
btQuaternionFloatData m_baseWorldOrientation;
|
|
btVector3FloatData m_baseLinearVelocity;
|
|
btVector3FloatData m_baseAngularVelocity;
|
|
btVector3FloatData m_baseInertia;
|
|
float m_baseMass;
|
|
int m_numLinks;
|
|
char *m_baseName;
|
|
btMultiBodyLinkFloatData *m_links;
|
|
btCollisionObjectFloatData *m_baseCollider;
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyLinkColliderFloatData
|
|
{
|
|
public:
|
|
btCollisionObjectFloatData m_colObjData;
|
|
btMultiBodyFloatData *m_multiBody;
|
|
int m_link;
|
|
char m_padding[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
class btMultiBodyLinkColliderDoubleData
|
|
{
|
|
public:
|
|
btCollisionObjectDoubleData m_colObjData;
|
|
btMultiBodyDoubleData *m_multiBody;
|
|
int m_link;
|
|
char m_padding[4];
|
|
};
|
|
|
|
|
|
}
|
|
#endif//__BULLET_H__
|