add initial support for soft body / cloth serialization, and updated SerializeDemo to load soft bodies/cloth.

Serializes soft body nodes (vertices), links, faces, tetrahedra, materials, anchors with rigid bodies.
Some todo's are serialization of pose, constraints between soft bodies

src/BulletSoftBody/btSoftBodyData.h

@@ -0,0 +1,161 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SOFTBODY_FLOAT_DATA
+#define BT_SOFTBODY_FLOAT_DATA
+
+#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
+
+
+
+struct	SoftBodyMaterialData
+{
+	float	m_linearStiffness;
+	float	m_angularStiffness;
+	float	m_volumeStiffness;
+	int		m_flags;
+};
+
+struct	SoftBodyNodeData
+{
+	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;
+};
+
+struct	SoftBodyLinkData
+{
+	SoftBodyMaterialData	*m_material;
+	int						m_nodeIndices[2];			// Node pointers
+	btVector3FloatData		m_c3;			// gradient
+	float					m_restLength;			// Rest length		
+	int						m_bbending;		// Bending link
+	float					m_c0;			// (ima+imb)*kLST
+	float					m_c1;			// rl^2
+	float					m_c2;			// |gradient|^2/c0
+	int						m_pad;
+};
+
+struct	SoftBodyFaceData
+{
+	btVector3FloatData		m_normal;		// Normal
+	SoftBodyMaterialData	*m_material;
+	int						m_nodeIndices[3];			// Node pointers
+	float					m_restArea;			// Rest area
+};	
+
+struct	SoftBodyTetraData
+{
+	btVector3FloatData		m_c0[4];		// gradients
+	SoftBodyMaterialData	*m_material;
+	int						m_nodeIndices[4];			// Node pointers		
+	float					m_restVolume;			// Rest volume
+	float					m_c1;			// (4*kVST)/(im0+im1+im2+im3)
+	float					m_c2;			// m_c1/sum(|g0..3|^2)
+	int						m_pad;
+};
+
+struct	SoftRigidAnchorData
+{
+	btMatrix3x3FloatData	m_c0;			// Impulse matrix
+	btVector3FloatData		m_c1;			// Relative anchor
+	btVector3FloatData		m_localFrame;		// Anchor position in body space
+	btRigidBodyData			*m_rigidBody;
+	int						m_nodeIndex;			// Node pointer
+	float					m_c2;			// ima*dt
+};
+
+
+
+struct	SoftBodyConfigData
+{
+	int					m_aeroModel;		// Aerodynamic model (default: V_Point)
+	float				m_baumgarte;			// Velocities correction factor (Baumgarte)
+	float				m_damping;			// Damping coefficient [0,1]
+	float				m_drag;			// Drag coefficient [0,+inf]
+	float				m_lift;			// Lift coefficient [0,+inf]
+	float				m_pressure;			// Pressure coefficient [-inf,+inf]
+	float				m_volume;			// Volume conversation coefficient [0,+inf]
+	float				m_dynamicFriction;			// Dynamic friction coefficient [0,1]
+	float				m_poseMatch;			// Pose matching coefficient [0,1]		
+	float				m_rigidContactHardness;			// Rigid contacts hardness [0,1]
+	float				m_kineticContactHardness;			// Kinetic contacts hardness [0,1]
+	float				m_softContactHardness;			// Soft contacts hardness [0,1]
+	float				m_anchorHardness;			// Anchors hardness [0,1]
+	float				m_softRigidClusterHardness;		// Soft vs rigid 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_softRigidClusterImpulseSplit;	// 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_maxVolume;		// Maximum volume ratio for pose
+	float				m_timeScale;		// Time scale
+	int					m_velocityIterations;	// Velocities solver iterations
+	int					m_positionIterations;	// Positions solver iterations
+	int					m_driftIterations;	// Drift solver iterations
+	int					m_clusterIterations;	// Cluster solver iterations
+	int					m_collisionFlags;	// Collisions flags
+};
+
+struct	SoftBodyPoseData
+{
+	btMatrix3x3FloatData	m_rot;			// Rotation
+	btMatrix3x3FloatData	m_scale;			// Scale
+	btMatrix3x3FloatData	m_aqq;			// Base scaling
+	btVector3FloatData		m_positions;			// Reference positions
+	btVector3FloatData		m_com;			// COM
+
+	int						m_bvolume;		// Is valid
+	int						m_bframe;		// Is frame
+	float					m_restVolume;		// Rest volume
+	int						m_numPositions;
+	float					*m_weights;	// Weights
+	int						m_numWeigts;
+	int						m_pad;
+};
+
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btSoftBodyFloatData
+{
+	btCollisionObjectFloatData	m_collisionObjectData;
+
+	SoftBodyPoseData		*m_pose;
+	SoftBodyMaterialData	**m_materials;
+	SoftBodyNodeData		*m_nodes;
+	SoftBodyLinkData		*m_links;
+	SoftBodyFaceData		*m_faces;
+	SoftBodyTetraData		*m_tetrahedra;
+	SoftRigidAnchorData		*m_anchors;
+
+	int						m_numMaterials;
+	int						m_numNodes;
+	int						m_numLinks;
+	int						m_numFaces;
+	int						m_numTetrahedra;
+	int						m_numAnchors;
+
+	SoftBodyConfigData		m_config;	
+};
+
+#endif //BT_SOFTBODY_FLOAT_DATA
+