2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
16 #ifndef BT_SOFTBODY_FLOAT_DATA
17 #define BT_SOFTBODY_FLOAT_DATA
19 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
20 #include "BulletDynamics/Dynamics/btRigidBody.h"
23 struct SoftBodyMaterialData
25 float m_linearStiffness;
26 float m_angularStiffness;
27 float m_volumeStiffness;
31 struct SoftBodyNodeData
33 SoftBodyMaterialData *m_material;
34 btVector3FloatData m_position;
35 btVector3FloatData m_previousPosition;
36 btVector3FloatData m_velocity;
37 btVector3FloatData m_accumulatedForce;
38 btVector3FloatData m_normal;
45 struct SoftBodyLinkData
47 SoftBodyMaterialData *m_material;
48 int m_nodeIndices[2]; // Node pointers
49 float m_restLength; // Rest length
50 int m_bbending; // Bending link
53 struct SoftBodyFaceData
55 btVector3FloatData m_normal; // Normal
56 SoftBodyMaterialData *m_material;
57 int m_nodeIndices[3]; // Node pointers
58 float m_restArea; // Rest area
61 struct SoftBodyTetraData
63 btVector3FloatData m_c0[4]; // gradients
64 SoftBodyMaterialData *m_material;
65 int m_nodeIndices[4]; // Node pointers
66 float m_restVolume; // Rest volume
67 float m_c1; // (4*kVST)/(im0+im1+im2+im3)
68 float m_c2; // m_c1/sum(|g0..3|^2)
72 struct SoftRigidAnchorData
74 btMatrix3x3FloatData m_c0; // Impulse matrix
75 btVector3FloatData m_c1; // Relative anchor
76 btVector3FloatData m_localFrame; // Anchor position in body space
77 btRigidBodyData *m_rigidBody;
78 int m_nodeIndex; // Node pointer
84 struct SoftBodyConfigData
86 int m_aeroModel; // Aerodynamic model (default: V_Point)
87 float m_baumgarte; // Velocities correction factor (Baumgarte)
88 float m_damping; // Damping coefficient [0,1]
89 float m_drag; // Drag coefficient [0,+inf]
90 float m_lift; // Lift coefficient [0,+inf]
91 float m_pressure; // Pressure coefficient [-inf,+inf]
92 float m_volume; // Volume conversation coefficient [0,+inf]
93 float m_dynamicFriction; // Dynamic friction coefficient [0,1]
94 float m_poseMatch; // Pose matching coefficient [0,1]
95 float m_rigidContactHardness; // Rigid contacts hardness [0,1]
96 float m_kineticContactHardness; // Kinetic contacts hardness [0,1]
97 float m_softContactHardness; // Soft contacts hardness [0,1]
98 float m_anchorHardness; // Anchors hardness [0,1]
99 float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only)
100 float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only)
101 float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only)
102 float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
103 float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
104 float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
105 float m_maxVolume; // Maximum volume ratio for pose
106 float m_timeScale; // Time scale
107 int m_velocityIterations; // Velocities solver iterations
108 int m_positionIterations; // Positions solver iterations
109 int m_driftIterations; // Drift solver iterations
110 int m_clusterIterations; // Cluster solver iterations
111 int m_collisionFlags; // Collisions flags
114 struct SoftBodyPoseData
116 btMatrix3x3FloatData m_rot; // Rotation
117 btMatrix3x3FloatData m_scale; // Scale
118 btMatrix3x3FloatData m_aqq; // Base scaling
119 btVector3FloatData m_com; // COM
121 btVector3FloatData *m_positions; // Reference positions
122 float *m_weights; // Weights
126 int m_bvolume; // Is valid
127 int m_bframe; // Is frame
128 float m_restVolume; // Rest volume
132 struct SoftBodyClusterData
134 btTransformFloatData m_framexform;
135 btMatrix3x3FloatData m_locii;
136 btMatrix3x3FloatData m_invwi;
137 btVector3FloatData m_com;
138 btVector3FloatData m_vimpulses[2];
139 btVector3FloatData m_dimpulses[2];
140 btVector3FloatData m_lv;
141 btVector3FloatData m_av;
143 btVector3FloatData *m_framerefs;
159 float m_maxSelfCollisionImpulse;
160 float m_selfCollisionImpulseFactor;
161 int m_containsAnchor;
167 enum btSoftJointBodyType
169 BT_JOINT_SOFT_BODY_CLUSTER=1,
171 BT_JOINT_COLLISION_OBJECT
174 struct btSoftBodyJointData
178 btVector3FloatData m_refs[2];
183 btVector3FloatData m_relPosition[2];//linear
190 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
191 struct btSoftBodyFloatData
193 btCollisionObjectFloatData m_collisionObjectData;
195 SoftBodyPoseData *m_pose;
196 SoftBodyMaterialData **m_materials;
197 SoftBodyNodeData *m_nodes;
198 SoftBodyLinkData *m_links;
199 SoftBodyFaceData *m_faces;
200 SoftBodyTetraData *m_tetrahedra;
201 SoftRigidAnchorData *m_anchors;
202 SoftBodyClusterData *m_clusters;
203 btSoftBodyJointData *m_joints;
213 SoftBodyConfigData m_config;
216 #endif //BT_SOFTBODY_FLOAT_DATA