2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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"
22 struct SoftBodyMaterialData
24 float m_linearStiffness;
25 float m_angularStiffness;
26 float m_volumeStiffness;
30 struct SoftBodyNodeData
32 SoftBodyMaterialData *m_material;
33 btVector3FloatData m_position;
34 btVector3FloatData m_previousPosition;
35 btVector3FloatData m_velocity;
36 btVector3FloatData m_accumulatedForce;
37 btVector3FloatData m_normal;
44 struct SoftBodyLinkData
46 SoftBodyMaterialData *m_material;
47 int m_nodeIndices[2]; // Node pointers
48 float m_restLength; // Rest length
49 int m_bbending; // Bending link
52 struct SoftBodyFaceData
54 btVector3FloatData m_normal; // Normal
55 SoftBodyMaterialData *m_material;
56 int m_nodeIndices[3]; // Node pointers
57 float m_restArea; // Rest area
60 struct SoftBodyTetraData
62 btVector3FloatData m_c0[4]; // gradients
63 SoftBodyMaterialData *m_material;
64 int m_nodeIndices[4]; // Node pointers
65 float m_restVolume; // Rest volume
66 float m_c1; // (4*kVST)/(im0+im1+im2+im3)
67 float m_c2; // m_c1/sum(|g0..3|^2)
71 struct SoftRigidAnchorData
73 btMatrix3x3FloatData m_c0; // Impulse matrix
74 btVector3FloatData m_c1; // Relative anchor
75 btVector3FloatData m_localFrame; // Anchor position in body space
76 btRigidBodyData *m_rigidBody;
77 int m_nodeIndex; // Node pointer
81 struct SoftBodyConfigData
83 int m_aeroModel; // Aerodynamic model (default: V_Point)
84 float m_baumgarte; // Velocities correction factor (Baumgarte)
85 float m_damping; // Damping coefficient [0,1]
86 float m_drag; // Drag coefficient [0,+inf]
87 float m_lift; // Lift coefficient [0,+inf]
88 float m_pressure; // Pressure coefficient [-inf,+inf]
89 float m_volume; // Volume conversation coefficient [0,+inf]
90 float m_dynamicFriction; // Dynamic friction coefficient [0,1]
91 float m_poseMatch; // Pose matching coefficient [0,1]
92 float m_rigidContactHardness; // Rigid contacts hardness [0,1]
93 float m_kineticContactHardness; // Kinetic contacts hardness [0,1]
94 float m_softContactHardness; // Soft contacts hardness [0,1]
95 float m_anchorHardness; // Anchors hardness [0,1]
96 float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only)
97 float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only)
98 float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only)
99 float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
100 float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
101 float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only)
102 float m_maxVolume; // Maximum volume ratio for pose
103 float m_timeScale; // Time scale
104 int m_velocityIterations; // Velocities solver iterations
105 int m_positionIterations; // Positions solver iterations
106 int m_driftIterations; // Drift solver iterations
107 int m_clusterIterations; // Cluster solver iterations
108 int m_collisionFlags; // Collisions flags
111 struct SoftBodyPoseData
113 btMatrix3x3FloatData m_rot; // Rotation
114 btMatrix3x3FloatData m_scale; // Scale
115 btMatrix3x3FloatData m_aqq; // Base scaling
116 btVector3FloatData m_com; // COM
118 btVector3FloatData *m_positions; // Reference positions
119 float *m_weights; // Weights
123 int m_bvolume; // Is valid
124 int m_bframe; // Is frame
125 float m_restVolume; // Rest volume
129 struct SoftBodyClusterData
131 btTransformFloatData m_framexform;
132 btMatrix3x3FloatData m_locii;
133 btMatrix3x3FloatData m_invwi;
134 btVector3FloatData m_com;
135 btVector3FloatData m_vimpulses[2];
136 btVector3FloatData m_dimpulses[2];
137 btVector3FloatData m_lv;
138 btVector3FloatData m_av;
140 btVector3FloatData *m_framerefs;
156 float m_maxSelfCollisionImpulse;
157 float m_selfCollisionImpulseFactor;
158 int m_containsAnchor;
163 enum btSoftJointBodyType
165 BT_JOINT_SOFT_BODY_CLUSTER = 1,
167 BT_JOINT_COLLISION_OBJECT
170 struct btSoftBodyJointData
174 btVector3FloatData m_refs[2];
179 btVector3FloatData m_relPosition[2]; //linear
186 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
187 struct btSoftBodyFloatData
189 btCollisionObjectFloatData m_collisionObjectData;
191 SoftBodyPoseData *m_pose;
192 SoftBodyMaterialData **m_materials;
193 SoftBodyNodeData *m_nodes;
194 SoftBodyLinkData *m_links;
195 SoftBodyFaceData *m_faces;
196 SoftBodyTetraData *m_tetrahedra;
197 SoftRigidAnchorData *m_anchors;
198 SoftBodyClusterData *m_clusters;
199 btSoftBodyJointData *m_joints;
209 SoftBodyConfigData m_config;
212 #endif //BT_SOFTBODY_FLOAT_DATA