c4b1b84687
https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section) Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
1577 lines
45 KiB
C++
1577 lines
45 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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// -------------------------------------------------- //
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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_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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|
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];
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float m_pointCacheDistance[4];
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|
float m_pointCacheAppliedImpulse[4];
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|
float m_pointCacheCombinedFriction[4];
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|
float m_pointCacheCombinedRollingFriction[4];
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|
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_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_maxGyroscopicForce;
|
|
float m_singleAxisRollingFrictionThreshold;
|
|
int m_numIterations;
|
|
int m_solverMode;
|
|
int m_restingContactRestitutionThreshold;
|
|
int m_minimumSolverBatchSize;
|
|
int m_splitImpulse;
|
|
char m_padding[4];
|
|
};
|
|
|
|
|
|
// -------------------------------------------------- //
|
|
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__
|