Bullet Collision Detection & Physics Library: bullet.h Source File

Bullet Collision Detection & Physics Library

bullet.h
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1 /* Copyright (C) 2011 Erwin Coumans & Charlie C
2 *
3 * This software is provided 'as-is', without any express or implied
4 * warranty. In no event will the authors be held liable for any damages
5 * arising from the use of this software.
6 *
7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 *
11 * 1. The origin of this software must not be misrepresented; you must not
12 * claim that you wrote the original software. If you use this software
13 * in a product, an acknowledgment in the product documentation would be
14 * appreciated but is not required.
15 * 2. Altered source versions must be plainly marked as such, and must not be
16 * misrepresented as being the original software.
17 * 3. This notice may not be removed or altered from any source distribution.
18 */
19 // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
20 #ifndef __BULLET_H__
21 #define __BULLET_H__
22 namespace Bullet {
23
24 // put an empty struct in the case
25 typedef struct bInvalidHandle {
26 int unused;
27 }bInvalidHandle;
28
29 class PointerArray;
30 class btPhysicsSystem;
31 class ListBase;
32 class btVector3FloatData;
33 class btVector3DoubleData;
34 class btQuaternionFloatData;
35 class btQuaternionDoubleData;
36 class btMatrix3x3FloatData;
37 class btMatrix3x3DoubleData;
38 class btTransformFloatData;
39 class btTransformDoubleData;
40 class btBvhSubtreeInfoData;
41 class btOptimizedBvhNodeFloatData;
42 class btOptimizedBvhNodeDoubleData;
43 class btQuantizedBvhNodeData;
44 class btQuantizedBvhFloatData;
45 class btQuantizedBvhDoubleData;
46 class btCollisionShapeData;
47 class btStaticPlaneShapeData;
48 class btConvexInternalShapeData;
49 class btPositionAndRadius;
50 class btMultiSphereShapeData;
51 class btIntIndexData;
52 class btShortIntIndexData;
53 class btShortIntIndexTripletData;
54 class btCharIndexTripletData;
55 class btMeshPartData;
56 class btStridingMeshInterfaceData;
57 class btTriangleMeshShapeData;
58 class btScaledTriangleMeshShapeData;
59 class btCompoundShapeChildData;
60 class btCompoundShapeData;
61 class btCylinderShapeData;
62 class btConeShapeData;
63 class btCapsuleShapeData;
64 class btTriangleInfoData;
65 class btTriangleInfoMapData;
66 class btGImpactMeshShapeData;
67 class btConvexHullShapeData;
68 class btCollisionObjectDoubleData;
69 class btCollisionObjectFloatData;
70 class btContactSolverInfoDoubleData;
71 class btContactSolverInfoFloatData;
72 class btDynamicsWorldDoubleData;
73 class btDynamicsWorldFloatData;
74 class btRigidBodyFloatData;
75 class btRigidBodyDoubleData;
76 class btConstraintInfo1;
77 class btTypedConstraintFloatData;
78 class btTypedConstraintData;
79 class btTypedConstraintDoubleData;
80 class btPoint2PointConstraintFloatData;
81 class btPoint2PointConstraintDoubleData2;
82 class btPoint2PointConstraintDoubleData;
83 class btHingeConstraintDoubleData;
84 class btHingeConstraintFloatData;
85 class btHingeConstraintDoubleData2;
86 class btConeTwistConstraintDoubleData;
87 class btConeTwistConstraintData;
88 class btGeneric6DofConstraintData;
89 class btGeneric6DofConstraintDoubleData2;
90 class btGeneric6DofSpringConstraintData;
91 class btGeneric6DofSpringConstraintDoubleData2;
92 class btGeneric6DofSpring2ConstraintData;
93 class btGeneric6DofSpring2ConstraintDoubleData2;
94 class btSliderConstraintData;
95 class btSliderConstraintDoubleData;
96 class btGearConstraintFloatData;
97 class btGearConstraintDoubleData;
98 class SoftBodyMaterialData;
99 class SoftBodyNodeData;
100 class SoftBodyLinkData;
101 class SoftBodyFaceData;
102 class SoftBodyTetraData;
103 class SoftRigidAnchorData;
104 class SoftBodyConfigData;
105 class SoftBodyPoseData;
106 class SoftBodyClusterData;
107 class btSoftBodyJointData;
108 class btSoftBodyFloatData;
109 class btMultiBodyLinkDoubleData;
110 class btMultiBodyLinkFloatData;
111 class btMultiBodyDoubleData;
112 class btMultiBodyFloatData;
113 // -------------------------------------------------- //
114 class PointerArray
115 {
116 public:
117 int m_size;
118 int m_capacity;
119 void *m_data;
120 };
121
122
123 // -------------------------------------------------- //
124 class btPhysicsSystem
125 {
126 public:
127 PointerArray m_collisionShapes;
128 PointerArray m_collisionObjects;
129 PointerArray m_constraints;
130 };
131
132
133 // -------------------------------------------------- //
134 class ListBase
135 {
136 public:
137 void *first;
138 void *last;
139 };
140
141
142 // -------------------------------------------------- //
143 class btVector3FloatData
144 {
145 public:
146 float m_floats[4];
147 };
148
149
150 // -------------------------------------------------- //
151 class btVector3DoubleData
152 {
153 public:
154 double m_floats[4];
155 };
156
157
158 // -------------------------------------------------- //
159 class btQuaternionFloatData
160 {
161 public:
162 float m_floats[4];
163 };
164
165
166 // -------------------------------------------------- //
167 class btQuaternionDoubleData
168 {
169 public:
170 double m_floats[4];
171 };
172
173
174 // -------------------------------------------------- //
175 class btMatrix3x3FloatData
176 {
177 public:
178 btVector3FloatData m_el[3];
179 };
180
181
182 // -------------------------------------------------- //
183 class btMatrix3x3DoubleData
184 {
185 public:
186 btVector3DoubleData m_el[3];
187 };
188
189
190 // -------------------------------------------------- //
191 class btTransformFloatData
192 {
193 public:
194 btMatrix3x3FloatData m_basis;
195 btVector3FloatData m_origin;
196 };
197
198
199 // -------------------------------------------------- //
200 class btTransformDoubleData
201 {
202 public:
203 btMatrix3x3DoubleData m_basis;
204 btVector3DoubleData m_origin;
205 };
206
207
208 // -------------------------------------------------- //
209 class btBvhSubtreeInfoData
210 {
211 public:
212 int m_rootNodeIndex;
213 int m_subtreeSize;
214 short m_quantizedAabbMin[3];
215 short m_quantizedAabbMax[3];
216 };
217
218
219 // -------------------------------------------------- //
220 class btOptimizedBvhNodeFloatData
221 {
222 public:
223 btVector3FloatData m_aabbMinOrg;
224 btVector3FloatData m_aabbMaxOrg;
225 int m_escapeIndex;
226 int m_subPart;
227 int m_triangleIndex;
228 char m_pad[4];
229 };
230
231
232 // -------------------------------------------------- //
233 class btOptimizedBvhNodeDoubleData
234 {
235 public:
236 btVector3DoubleData m_aabbMinOrg;
237 btVector3DoubleData m_aabbMaxOrg;
238 int m_escapeIndex;
239 int m_subPart;
240 int m_triangleIndex;
241 char m_pad[4];
242 };
243
244
245 // -------------------------------------------------- //
246 class btQuantizedBvhNodeData
247 {
248 public:
249 short m_quantizedAabbMin[3];
250 short m_quantizedAabbMax[3];
251 int m_escapeIndexOrTriangleIndex;
252 };
253
254
255 // -------------------------------------------------- //
256 class btQuantizedBvhFloatData
257 {
258 public:
259 btVector3FloatData m_bvhAabbMin;
260 btVector3FloatData m_bvhAabbMax;
261 btVector3FloatData m_bvhQuantization;
262 int m_curNodeIndex;
263 int m_useQuantization;
264 int m_numContiguousLeafNodes;
265 int m_numQuantizedContiguousNodes;
266 btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
267 btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
268 btBvhSubtreeInfoData *m_subTreeInfoPtr;
269 int m_traversalMode;
270 int m_numSubtreeHeaders;
271 };
272
273
274 // -------------------------------------------------- //
275 class btQuantizedBvhDoubleData
276 {
277 public:
278 btVector3DoubleData m_bvhAabbMin;
279 btVector3DoubleData m_bvhAabbMax;
280 btVector3DoubleData m_bvhQuantization;
281 int m_curNodeIndex;
282 int m_useQuantization;
283 int m_numContiguousLeafNodes;
284 int m_numQuantizedContiguousNodes;
285 btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
286 btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
287 int m_traversalMode;
288 int m_numSubtreeHeaders;
289 btBvhSubtreeInfoData *m_subTreeInfoPtr;
290 };
291
292
293 // -------------------------------------------------- //
294 class btCollisionShapeData
295 {
296 public:
297 char *m_name;
298 int m_shapeType;
299 char m_padding[4];
300 };
301
302
303 // -------------------------------------------------- //
304 class btStaticPlaneShapeData
305 {
306 public:
307 btCollisionShapeData m_collisionShapeData;
308 btVector3FloatData m_localScaling;
309 btVector3FloatData m_planeNormal;
310 float m_planeConstant;
311 char m_pad[4];
312 };
313
314
315 // -------------------------------------------------- //
316 class btConvexInternalShapeData
317 {
318 public:
319 btCollisionShapeData m_collisionShapeData;
320 btVector3FloatData m_localScaling;
321 btVector3FloatData m_implicitShapeDimensions;
322 float m_collisionMargin;
323 int m_padding;
324 };
325
326
327 // -------------------------------------------------- //
328 class btPositionAndRadius
329 {
330 public:
331 btVector3FloatData m_pos;
332 float m_radius;
333 };
334
335
336 // -------------------------------------------------- //
337 class btMultiSphereShapeData
338 {
339 public:
340 btConvexInternalShapeData m_convexInternalShapeData;
341 btPositionAndRadius *m_localPositionArrayPtr;
342 int m_localPositionArraySize;
343 char m_padding[4];
344 };
345
346
347 // -------------------------------------------------- //
348 class btIntIndexData
349 {
350 public:
351 int m_value;
352 };
353
354
355 // -------------------------------------------------- //
356 class btShortIntIndexData
357 {
358 public:
359 short m_value;
360 char m_pad[2];
361 };
362
363
364 // -------------------------------------------------- //
365 class btShortIntIndexTripletData
366 {
367 public:
368 short m_values[3];
369 char m_pad[2];
370 };
371
372
373 // -------------------------------------------------- //
374 class btCharIndexTripletData
375 {
376 public:
377 char m_values[3];
378 char m_pad;
379 };
380
381
382 // -------------------------------------------------- //
383 class btMeshPartData
384 {
385 public:
386 btVector3FloatData *m_vertices3f;
387 btVector3DoubleData *m_vertices3d;
388 btIntIndexData *m_indices32;
389 btShortIntIndexTripletData *m_3indices16;
390 btCharIndexTripletData *m_3indices8;
391 btShortIntIndexData *m_indices16;
392 int m_numTriangles;
393 int m_numVertices;
394 };
395
396
397 // -------------------------------------------------- //
398 class btStridingMeshInterfaceData
399 {
400 public:
401 btMeshPartData *m_meshPartsPtr;
402 btVector3FloatData m_scaling;
403 int m_numMeshParts;
404 char m_padding[4];
405 };
406
407
408 // -------------------------------------------------- //
409 class btTriangleMeshShapeData
410 {
411 public:
412 btCollisionShapeData m_collisionShapeData;
413 btStridingMeshInterfaceData m_meshInterface;
414 btQuantizedBvhFloatData *m_quantizedFloatBvh;
415 btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
416 btTriangleInfoMapData *m_triangleInfoMap;
417 float m_collisionMargin;
418 char m_pad3[4];
419 };
420
421
422 // -------------------------------------------------- //
423 class btScaledTriangleMeshShapeData
424 {
425 public:
426 btTriangleMeshShapeData m_trimeshShapeData;
427 btVector3FloatData m_localScaling;
428 };
429
430
431 // -------------------------------------------------- //
432 class btCompoundShapeChildData
433 {
434 public:
435 btTransformFloatData m_transform;
436 btCollisionShapeData *m_childShape;
437 int m_childShapeType;
438 float m_childMargin;
439 };
440
441
442 // -------------------------------------------------- //
443 class btCompoundShapeData
444 {
445 public:
446 btCollisionShapeData m_collisionShapeData;
447 btCompoundShapeChildData *m_childShapePtr;
448 int m_numChildShapes;
449 float m_collisionMargin;
450 };
451
452
453 // -------------------------------------------------- //
454 class btCylinderShapeData
455 {
456 public:
457 btConvexInternalShapeData m_convexInternalShapeData;
458 int m_upAxis;
459 char m_padding[4];
460 };
461
462
463 // -------------------------------------------------- //
464 class btConeShapeData
465 {
466 public:
467 btConvexInternalShapeData m_convexInternalShapeData;
468 int m_upIndex;
469 char m_padding[4];
470 };
471
472
473 // -------------------------------------------------- //
474 class btCapsuleShapeData
475 {
476 public:
477 btConvexInternalShapeData m_convexInternalShapeData;
478 int m_upAxis;
479 char m_padding[4];
480 };
481
482
483 // -------------------------------------------------- //
484 class btTriangleInfoData
485 {
486 public:
487 int m_flags;
488 float m_edgeV0V1Angle;
489 float m_edgeV1V2Angle;
490 float m_edgeV2V0Angle;
491 };
492
493
494 // -------------------------------------------------- //
495 class btTriangleInfoMapData
496 {
497 public:
498 int *m_hashTablePtr;
499 int *m_nextPtr;
500 btTriangleInfoData *m_valueArrayPtr;
501 int *m_keyArrayPtr;
502 float m_convexEpsilon;
503 float m_planarEpsilon;
504 float m_equalVertexThreshold;
505 float m_edgeDistanceThreshold;
506 float m_zeroAreaThreshold;
507 int m_nextSize;
508 int m_hashTableSize;
509 int m_numValues;
510 int m_numKeys;
511 char m_padding[4];
512 };
513
514
515 // -------------------------------------------------- //
516 class btGImpactMeshShapeData
517 {
518 public:
519 btCollisionShapeData m_collisionShapeData;
520 btStridingMeshInterfaceData m_meshInterface;
521 btVector3FloatData m_localScaling;
522 float m_collisionMargin;
523 int m_gimpactSubType;
524 };
525
526
527 // -------------------------------------------------- //
528 class btConvexHullShapeData
529 {
530 public:
531 btConvexInternalShapeData m_convexInternalShapeData;
532 btVector3FloatData *m_unscaledPointsFloatPtr;
533 btVector3DoubleData *m_unscaledPointsDoublePtr;
534 int m_numUnscaledPoints;
535 char m_padding3[4];
536 };
537
538
539 // -------------------------------------------------- //
540 class btCollisionObjectDoubleData
541 {
542 public:
543 void *m_broadphaseHandle;
544 void *m_collisionShape;
545 btCollisionShapeData *m_rootCollisionShape;
546 char *m_name;
547 btTransformDoubleData m_worldTransform;
548 btTransformDoubleData m_interpolationWorldTransform;
549 btVector3DoubleData m_interpolationLinearVelocity;
550 btVector3DoubleData m_interpolationAngularVelocity;
551 btVector3DoubleData m_anisotropicFriction;
552 double m_contactProcessingThreshold;
553 double m_deactivationTime;
554 double m_friction;
555 double m_rollingFriction;
556 double m_contactDamping;
557 double m_contactStiffness;
558 double m_restitution;
559 double m_hitFraction;
560 double m_ccdSweptSphereRadius;
561 double m_ccdMotionThreshold;
562 int m_hasAnisotropicFriction;
563 int m_collisionFlags;
564 int m_islandTag1;
565 int m_companionId;
566 int m_activationState1;
567 int m_internalType;
568 int m_checkCollideWith;
569 char m_padding[4];
570 };
571
572
573 // -------------------------------------------------- //
574 class btCollisionObjectFloatData
575 {
576 public:
577 void *m_broadphaseHandle;
578 void *m_collisionShape;
579 btCollisionShapeData *m_rootCollisionShape;
580 char *m_name;
581 btTransformFloatData m_worldTransform;
582 btTransformFloatData m_interpolationWorldTransform;
583 btVector3FloatData m_interpolationLinearVelocity;
584 btVector3FloatData m_interpolationAngularVelocity;
585 btVector3FloatData m_anisotropicFriction;
586 float m_contactProcessingThreshold;
587 float m_deactivationTime;
588 float m_friction;
589 float m_rollingFriction;
590 float m_contactDamping;
591 float m_contactStiffness;
592 float m_restitution;
593 float m_hitFraction;
594 float m_ccdSweptSphereRadius;
595 float m_ccdMotionThreshold;
596 int m_hasAnisotropicFriction;
597 int m_collisionFlags;
598 int m_islandTag1;
599 int m_companionId;
600 int m_activationState1;
601 int m_internalType;
602 int m_checkCollideWith;
603 char m_padding[4];
604 };
605
606
607 // -------------------------------------------------- //
608 class btContactSolverInfoDoubleData
609 {
610 public:
611 double m_tau;
612 double m_damping;
613 double m_friction;
614 double m_timeStep;
615 double m_restitution;
616 double m_maxErrorReduction;
617 double m_sor;
618 double m_erp;
619 double m_erp2;
620 double m_globalCfm;
621 double m_splitImpulsePenetrationThreshold;
622 double m_splitImpulseTurnErp;
623 double m_linearSlop;
624 double m_warmstartingFactor;
625 double m_maxGyroscopicForce;
626 double m_singleAxisRollingFrictionThreshold;
627 int m_numIterations;
628 int m_solverMode;
629 int m_restingContactRestitutionThreshold;
630 int m_minimumSolverBatchSize;
631 int m_splitImpulse;
632 char m_padding[4];
633 };
634
635
636 // -------------------------------------------------- //
637 class btContactSolverInfoFloatData
638 {
639 public:
640 float m_tau;
641 float m_damping;
642 float m_friction;
643 float m_timeStep;
644 float m_restitution;
645 float m_maxErrorReduction;
646 float m_sor;
647 float m_erp;
648 float m_erp2;
649 float m_globalCfm;
650 float m_splitImpulsePenetrationThreshold;
651 float m_splitImpulseTurnErp;
652 float m_linearSlop;
653 float m_warmstartingFactor;
654 float m_maxGyroscopicForce;
655 float m_singleAxisRollingFrictionThreshold;
656 int m_numIterations;
657 int m_solverMode;
658 int m_restingContactRestitutionThreshold;
659 int m_minimumSolverBatchSize;
660 int m_splitImpulse;
661 char m_padding[4];
662 };
663
664
665 // -------------------------------------------------- //
666 class btDynamicsWorldDoubleData
667 {
668 public:
669 btContactSolverInfoDoubleData m_solverInfo;
670 btVector3DoubleData m_gravity;
671 };
672
673
674 // -------------------------------------------------- //
675 class btDynamicsWorldFloatData
676 {
677 public:
678 btContactSolverInfoFloatData m_solverInfo;
679 btVector3FloatData m_gravity;
680 };
681
682
683 // -------------------------------------------------- //
684 class btRigidBodyFloatData
685 {
686 public:
687 btCollisionObjectFloatData m_collisionObjectData;
688 btMatrix3x3FloatData m_invInertiaTensorWorld;
689 btVector3FloatData m_linearVelocity;
690 btVector3FloatData m_angularVelocity;
691 btVector3FloatData m_angularFactor;
692 btVector3FloatData m_linearFactor;
693 btVector3FloatData m_gravity;
694 btVector3FloatData m_gravity_acceleration;
695 btVector3FloatData m_invInertiaLocal;
696 btVector3FloatData m_totalForce;
697 btVector3FloatData m_totalTorque;
698 float m_inverseMass;
699 float m_linearDamping;
700 float m_angularDamping;
701 float m_additionalDampingFactor;
702 float m_additionalLinearDampingThresholdSqr;
703 float m_additionalAngularDampingThresholdSqr;
704 float m_additionalAngularDampingFactor;
705 float m_linearSleepingThreshold;
706 float m_angularSleepingThreshold;
707 int m_additionalDamping;
708 };
709
710
711 // -------------------------------------------------- //
712 class btRigidBodyDoubleData
713 {
714 public:
715 btCollisionObjectDoubleData m_collisionObjectData;
716 btMatrix3x3DoubleData m_invInertiaTensorWorld;
717 btVector3DoubleData m_linearVelocity;
718 btVector3DoubleData m_angularVelocity;
719 btVector3DoubleData m_angularFactor;
720 btVector3DoubleData m_linearFactor;
721 btVector3DoubleData m_gravity;
722 btVector3DoubleData m_gravity_acceleration;
723 btVector3DoubleData m_invInertiaLocal;
724 btVector3DoubleData m_totalForce;
725 btVector3DoubleData m_totalTorque;
726 double m_inverseMass;
727 double m_linearDamping;
728 double m_angularDamping;
729 double m_additionalDampingFactor;
730 double m_additionalLinearDampingThresholdSqr;
731 double m_additionalAngularDampingThresholdSqr;
732 double m_additionalAngularDampingFactor;
733 double m_linearSleepingThreshold;
734 double m_angularSleepingThreshold;
735 int m_additionalDamping;
736 char m_padding[4];
737 };
738
739
740 // -------------------------------------------------- //
741 class btConstraintInfo1
742 {
743 public:
744 int m_numConstraintRows;
745 int nub;
746 };
747
748
749 // -------------------------------------------------- //
750 class btTypedConstraintFloatData
751 {
752 public:
753 btRigidBodyFloatData *m_rbA;
754 btRigidBodyFloatData *m_rbB;
755 char *m_name;
756 int m_objectType;
757 int m_userConstraintType;
758 int m_userConstraintId;
759 int m_needsFeedback;
760 float m_appliedImpulse;
761 float m_dbgDrawSize;
762 int m_disableCollisionsBetweenLinkedBodies;
763 int m_overrideNumSolverIterations;
764 float m_breakingImpulseThreshold;
765 int m_isEnabled;
766 };
767
768
769 // -------------------------------------------------- //
770 class btTypedConstraintData
771 {
772 public:
773 bInvalidHandle *m_rbA;
774 bInvalidHandle *m_rbB;
775 char *m_name;
776 int m_objectType;
777 int m_userConstraintType;
778 int m_userConstraintId;
779 int m_needsFeedback;
780 float m_appliedImpulse;
781 float m_dbgDrawSize;
782 int m_disableCollisionsBetweenLinkedBodies;
783 int m_overrideNumSolverIterations;
784 float m_breakingImpulseThreshold;
785 int m_isEnabled;
786 };
787
788
789 // -------------------------------------------------- //
790 class btTypedConstraintDoubleData
791 {
792 public:
793 btRigidBodyDoubleData *m_rbA;
794 btRigidBodyDoubleData *m_rbB;
795 char *m_name;
796 int m_objectType;
797 int m_userConstraintType;
798 int m_userConstraintId;
799 int m_needsFeedback;
800 double m_appliedImpulse;
801 double m_dbgDrawSize;
802 int m_disableCollisionsBetweenLinkedBodies;
803 int m_overrideNumSolverIterations;
804 double m_breakingImpulseThreshold;
805 int m_isEnabled;
806 char padding[4];
807 };
808
809
810 // -------------------------------------------------- //
811 class btPoint2PointConstraintFloatData
812 {
813 public:
814 btTypedConstraintData m_typeConstraintData;
815 btVector3FloatData m_pivotInA;
816 btVector3FloatData m_pivotInB;
817 };
818
819
820 // -------------------------------------------------- //
821 class btPoint2PointConstraintDoubleData2
822 {
823 public:
824 btTypedConstraintDoubleData m_typeConstraintData;
825 btVector3DoubleData m_pivotInA;
826 btVector3DoubleData m_pivotInB;
827 };
828
829
830 // -------------------------------------------------- //
831 class btPoint2PointConstraintDoubleData
832 {
833 public:
834 btTypedConstraintData m_typeConstraintData;
835 btVector3DoubleData m_pivotInA;
836 btVector3DoubleData m_pivotInB;
837 };
838
839
840 // -------------------------------------------------- //
841 class btHingeConstraintDoubleData
842 {
843 public:
844 btTypedConstraintData m_typeConstraintData;
845 btTransformDoubleData m_rbAFrame;
846 btTransformDoubleData m_rbBFrame;
847 int m_useReferenceFrameA;
848 int m_angularOnly;
849 int m_enableAngularMotor;
850 float m_motorTargetVelocity;
851 float m_maxMotorImpulse;
852 float m_lowerLimit;
853 float m_upperLimit;
854 float m_limitSoftness;
855 float m_biasFactor;
856 float m_relaxationFactor;
857 };
858
859
860 // -------------------------------------------------- //
861 class btHingeConstraintFloatData
862 {
863 public:
864 btTypedConstraintData m_typeConstraintData;
865 btTransformFloatData m_rbAFrame;
866 btTransformFloatData m_rbBFrame;
867 int m_useReferenceFrameA;
868 int m_angularOnly;
869 int m_enableAngularMotor;
870 float m_motorTargetVelocity;
871 float m_maxMotorImpulse;
872 float m_lowerLimit;
873 float m_upperLimit;
874 float m_limitSoftness;
875 float m_biasFactor;
876 float m_relaxationFactor;
877 };
878
879
880 // -------------------------------------------------- //
881 class btHingeConstraintDoubleData2
882 {
883 public:
884 btTypedConstraintDoubleData m_typeConstraintData;
885 btTransformDoubleData m_rbAFrame;
886 btTransformDoubleData m_rbBFrame;
887 int m_useReferenceFrameA;
888 int m_angularOnly;
889 int m_enableAngularMotor;
890 double m_motorTargetVelocity;
891 double m_maxMotorImpulse;
892 double m_lowerLimit;
893 double m_upperLimit;
894 double m_limitSoftness;
895 double m_biasFactor;
896 double m_relaxationFactor;
897 char m_padding1[4];
898 };
899
900
901 // -------------------------------------------------- //
902 class btConeTwistConstraintDoubleData
903 {
904 public:
905 btTypedConstraintDoubleData m_typeConstraintData;
906 btTransformDoubleData m_rbAFrame;
907 btTransformDoubleData m_rbBFrame;
908 double m_swingSpan1;
909 double m_swingSpan2;
910 double m_twistSpan;
911 double m_limitSoftness;
912 double m_biasFactor;
913 double m_relaxationFactor;
914 double m_damping;
915 };
916
917
918 // -------------------------------------------------- //
919 class btConeTwistConstraintData
920 {
921 public:
922 btTypedConstraintData m_typeConstraintData;
923 btTransformFloatData m_rbAFrame;
924 btTransformFloatData m_rbBFrame;
925 float m_swingSpan1;
926 float m_swingSpan2;
927 float m_twistSpan;
928 float m_limitSoftness;
929 float m_biasFactor;
930 float m_relaxationFactor;
931 float m_damping;
932 char m_pad[4];
933 };
934
935
936 // -------------------------------------------------- //
937 class btGeneric6DofConstraintData
938 {
939 public:
940 btTypedConstraintData m_typeConstraintData;
941 btTransformFloatData m_rbAFrame;
942 btTransformFloatData m_rbBFrame;
943 btVector3FloatData m_linearUpperLimit;
944 btVector3FloatData m_linearLowerLimit;
945 btVector3FloatData m_angularUpperLimit;
946 btVector3FloatData m_angularLowerLimit;
947 int m_useLinearReferenceFrameA;
948 int m_useOffsetForConstraintFrame;
949 };
950
951
952 // -------------------------------------------------- //
953 class btGeneric6DofConstraintDoubleData2
954 {
955 public:
956 btTypedConstraintDoubleData m_typeConstraintData;
957 btTransformDoubleData m_rbAFrame;
958 btTransformDoubleData m_rbBFrame;
959 btVector3DoubleData m_linearUpperLimit;
960 btVector3DoubleData m_linearLowerLimit;
961 btVector3DoubleData m_angularUpperLimit;
962 btVector3DoubleData m_angularLowerLimit;
963 int m_useLinearReferenceFrameA;
964 int m_useOffsetForConstraintFrame;
965 };
966
967
968 // -------------------------------------------------- //
969 class btGeneric6DofSpringConstraintData
970 {
971 public:
972 btGeneric6DofConstraintData m_6dofData;
973 int m_springEnabled[6];
974 float m_equilibriumPoint[6];
975 float m_springStiffness[6];
976 float m_springDamping[6];
977 };
978
979
980 // -------------------------------------------------- //
981 class btGeneric6DofSpringConstraintDoubleData2
982 {
983 public:
984 btGeneric6DofConstraintDoubleData2 m_6dofData;
985 int m_springEnabled[6];
986 double m_equilibriumPoint[6];
987 double m_springStiffness[6];
988 double m_springDamping[6];
989 };
990
991
992 // -------------------------------------------------- //
993 class btGeneric6DofSpring2ConstraintData
994 {
995 public:
996 btTypedConstraintData m_typeConstraintData;
997 btTransformFloatData m_rbAFrame;
998 btTransformFloatData m_rbBFrame;
999 btVector3FloatData m_linearUpperLimit;
1000 btVector3FloatData m_linearLowerLimit;
1001 btVector3FloatData m_linearBounce;
1002 btVector3FloatData m_linearStopERP;
1003 btVector3FloatData m_linearStopCFM;
1004 btVector3FloatData m_linearMotorERP;
1005 btVector3FloatData m_linearMotorCFM;
1006 btVector3FloatData m_linearTargetVelocity;
1007 btVector3FloatData m_linearMaxMotorForce;
1008 btVector3FloatData m_linearServoTarget;
1009 btVector3FloatData m_linearSpringStiffness;
1010 btVector3FloatData m_linearSpringDamping;
1011 btVector3FloatData m_linearEquilibriumPoint;
1012 char m_linearEnableMotor[4];
1013 char m_linearServoMotor[4];
1014 char m_linearEnableSpring[4];
1015 char m_linearSpringStiffnessLimited[4];
1016 char m_linearSpringDampingLimited[4];
1017 char m_padding1[4];
1018 btVector3FloatData m_angularUpperLimit;
1019 btVector3FloatData m_angularLowerLimit;
1020 btVector3FloatData m_angularBounce;
1021 btVector3FloatData m_angularStopERP;
1022 btVector3FloatData m_angularStopCFM;
1023 btVector3FloatData m_angularMotorERP;
1024 btVector3FloatData m_angularMotorCFM;
1025 btVector3FloatData m_angularTargetVelocity;
1026 btVector3FloatData m_angularMaxMotorForce;
1027 btVector3FloatData m_angularServoTarget;
1028 btVector3FloatData m_angularSpringStiffness;
1029 btVector3FloatData m_angularSpringDamping;
1030 btVector3FloatData m_angularEquilibriumPoint;
1031 char m_angularEnableMotor[4];
1032 char m_angularServoMotor[4];
1033 char m_angularEnableSpring[4];
1034 char m_angularSpringStiffnessLimited[4];
1035 char m_angularSpringDampingLimited[4];
1036 int m_rotateOrder;
1037 };
1038
1039
1040 // -------------------------------------------------- //
1041 class btGeneric6DofSpring2ConstraintDoubleData2
1042 {
1043 public:
1044 btTypedConstraintDoubleData m_typeConstraintData;
1045 btTransformDoubleData m_rbAFrame;
1046 btTransformDoubleData m_rbBFrame;
1047 btVector3DoubleData m_linearUpperLimit;
1048 btVector3DoubleData m_linearLowerLimit;
1049 btVector3DoubleData m_linearBounce;
1050 btVector3DoubleData m_linearStopERP;
1051 btVector3DoubleData m_linearStopCFM;
1052 btVector3DoubleData m_linearMotorERP;
1053 btVector3DoubleData m_linearMotorCFM;
1054 btVector3DoubleData m_linearTargetVelocity;
1055 btVector3DoubleData m_linearMaxMotorForce;
1056 btVector3DoubleData m_linearServoTarget;
1057 btVector3DoubleData m_linearSpringStiffness;
1058 btVector3DoubleData m_linearSpringDamping;
1059 btVector3DoubleData m_linearEquilibriumPoint;
1060 char m_linearEnableMotor[4];
1061 char m_linearServoMotor[4];
1062 char m_linearEnableSpring[4];
1063 char m_linearSpringStiffnessLimited[4];
1064 char m_linearSpringDampingLimited[4];
1065 char m_padding1[4];
1066 btVector3DoubleData m_angularUpperLimit;
1067 btVector3DoubleData m_angularLowerLimit;
1068 btVector3DoubleData m_angularBounce;
1069 btVector3DoubleData m_angularStopERP;
1070 btVector3DoubleData m_angularStopCFM;
1071 btVector3DoubleData m_angularMotorERP;
1072 btVector3DoubleData m_angularMotorCFM;
1073 btVector3DoubleData m_angularTargetVelocity;
1074 btVector3DoubleData m_angularMaxMotorForce;
1075 btVector3DoubleData m_angularServoTarget;
1076 btVector3DoubleData m_angularSpringStiffness;
1077 btVector3DoubleData m_angularSpringDamping;
1078 btVector3DoubleData m_angularEquilibriumPoint;
1079 char m_angularEnableMotor[4];
1080 char m_angularServoMotor[4];
1081 char m_angularEnableSpring[4];
1082 char m_angularSpringStiffnessLimited[4];
1083 char m_angularSpringDampingLimited[4];
1084 int m_rotateOrder;
1085 };
1086
1087
1088 // -------------------------------------------------- //
1089 class btSliderConstraintData
1090 {
1091 public:
1092 btTypedConstraintData m_typeConstraintData;
1093 btTransformFloatData m_rbAFrame;
1094 btTransformFloatData m_rbBFrame;
1095 float m_linearUpperLimit;
1096 float m_linearLowerLimit;
1097 float m_angularUpperLimit;
1098 float m_angularLowerLimit;
1099 int m_useLinearReferenceFrameA;
1100 int m_useOffsetForConstraintFrame;
1101 };
1102
1103
1104 // -------------------------------------------------- //
1105 class btSliderConstraintDoubleData
1106 {
1107 public:
1108 btTypedConstraintDoubleData m_typeConstraintData;
1109 btTransformDoubleData m_rbAFrame;
1110 btTransformDoubleData m_rbBFrame;
1111 double m_linearUpperLimit;
1112 double m_linearLowerLimit;
1113 double m_angularUpperLimit;
1114 double m_angularLowerLimit;
1115 int m_useLinearReferenceFrameA;
1116 int m_useOffsetForConstraintFrame;
1117 };
1118
1119
1120 // -------------------------------------------------- //
1121 class btGearConstraintFloatData
1122 {
1123 public:
1124 btTypedConstraintFloatData m_typeConstraintData;
1125 btVector3FloatData m_axisInA;
1126 btVector3FloatData m_axisInB;
1127 float m_ratio;
1128 char m_padding[4];
1129 };
1130
1131
1132 // -------------------------------------------------- //
1133 class btGearConstraintDoubleData
1134 {
1135 public:
1136 btTypedConstraintDoubleData m_typeConstraintData;
1137 btVector3DoubleData m_axisInA;
1138 btVector3DoubleData m_axisInB;
1139 double m_ratio;
1140 };
1141
1142
1143 // -------------------------------------------------- //
1144 class SoftBodyMaterialData
1145 {
1146 public:
1147 float m_linearStiffness;
1148 float m_angularStiffness;
1149 float m_volumeStiffness;
1150 int m_flags;
1151 };
1152
1153
1154 // -------------------------------------------------- //
1155 class SoftBodyNodeData
1156 {
1157 public:
1158 SoftBodyMaterialData *m_material;
1159 btVector3FloatData m_position;
1160 btVector3FloatData m_previousPosition;
1161 btVector3FloatData m_velocity;
1162 btVector3FloatData m_accumulatedForce;
1163 btVector3FloatData m_normal;
1164 float m_inverseMass;
1165 float m_area;
1166 int m_attach;
1167 int m_pad;
1168 };
1169
1170
1171 // -------------------------------------------------- //
1172 class SoftBodyLinkData
1173 {
1174 public:
1175 SoftBodyMaterialData *m_material;
1176 int m_nodeIndices[2];
1177 float m_restLength;
1178 int m_bbending;
1179 };
1180
1181
1182 // -------------------------------------------------- //
1183 class SoftBodyFaceData
1184 {
1185 public:
1186 btVector3FloatData m_normal;
1187 SoftBodyMaterialData *m_material;
1188 int m_nodeIndices[3];
1189 float m_restArea;
1190 };
1191
1192
1193 // -------------------------------------------------- //
1194 class SoftBodyTetraData
1195 {
1196 public:
1197 btVector3FloatData m_c0[4];
1198 SoftBodyMaterialData *m_material;
1199 int m_nodeIndices[4];
1200 float m_restVolume;
1201 float m_c1;
1202 float m_c2;
1203 int m_pad;
1204 };
1205
1206
1207 // -------------------------------------------------- //
1208 class SoftRigidAnchorData
1209 {
1210 public:
1211 btMatrix3x3FloatData m_c0;
1212 btVector3FloatData m_c1;
1213 btVector3FloatData m_localFrame;
1214 bInvalidHandle *m_rigidBody;
1215 int m_nodeIndex;
1216 float m_c2;
1217 };
1218
1219
1220 // -------------------------------------------------- //
1221 class SoftBodyConfigData
1222 {
1223 public:
1224 int m_aeroModel;
1225 float m_baumgarte;
1226 float m_damping;
1227 float m_drag;
1228 float m_lift;
1229 float m_pressure;
1230 float m_volume;
1231 float m_dynamicFriction;
1232 float m_poseMatch;
1233 float m_rigidContactHardness;
1234 float m_kineticContactHardness;
1235 float m_softContactHardness;
1236 float m_anchorHardness;
1237 float m_softRigidClusterHardness;
1238 float m_softKineticClusterHardness;
1239 float m_softSoftClusterHardness;
1240 float m_softRigidClusterImpulseSplit;
1241 float m_softKineticClusterImpulseSplit;
1242 float m_softSoftClusterImpulseSplit;
1243 float m_maxVolume;
1244 float m_timeScale;
1245 int m_velocityIterations;
1246 int m_positionIterations;
1247 int m_driftIterations;
1248 int m_clusterIterations;
1249 int m_collisionFlags;
1250 };
1251
1252
1253 // -------------------------------------------------- //
1254 class SoftBodyPoseData
1255 {
1256 public:
1257 btMatrix3x3FloatData m_rot;
1258 btMatrix3x3FloatData m_scale;
1259 btMatrix3x3FloatData m_aqq;
1260 btVector3FloatData m_com;
1261 btVector3FloatData *m_positions;
1262 float *m_weights;
1263 int m_numPositions;
1264 int m_numWeigts;
1265 int m_bvolume;
1266 int m_bframe;
1267 float m_restVolume;
1268 int m_pad;
1269 };
1270
1271
1272 // -------------------------------------------------- //
1273 class SoftBodyClusterData
1274 {
1275 public:
1276 btTransformFloatData m_framexform;
1277 btMatrix3x3FloatData m_locii;
1278 btMatrix3x3FloatData m_invwi;
1279 btVector3FloatData m_com;
1280 btVector3FloatData m_vimpulses[2];
1281 btVector3FloatData m_dimpulses[2];
1282 btVector3FloatData m_lv;
1283 btVector3FloatData m_av;
1284 btVector3FloatData *m_framerefs;
1285 int *m_nodeIndices;
1286 float *m_masses;
1287 int m_numFrameRefs;
1288 int m_numNodes;
1289 int m_numMasses;
1290 float m_idmass;
1291 float m_imass;
1292 int m_nvimpulses;
1293 int m_ndimpulses;
1294 float m_ndamping;
1295 float m_ldamping;
1296 float m_adamping;
1297 float m_matching;
1298 float m_maxSelfCollisionImpulse;
1299 float m_selfCollisionImpulseFactor;
1300 int m_containsAnchor;
1301 int m_collide;
1302 int m_clusterIndex;
1303 };
1304
1305
1306 // -------------------------------------------------- //
1307 class btSoftBodyJointData
1308 {
1309 public:
1310 void *m_bodyA;
1311 void *m_bodyB;
1312 btVector3FloatData m_refs[2];
1313 float m_cfm;
1314 float m_erp;
1315 float m_split;
1316 int m_delete;
1317 btVector3FloatData m_relPosition[2];
1318 int m_bodyAtype;
1319 int m_bodyBtype;
1320 int m_jointType;
1321 int m_pad;
1322 };
1323
1324
1325 // -------------------------------------------------- //
1326 class btSoftBodyFloatData
1327 {
1328 public:
1329 btCollisionObjectFloatData m_collisionObjectData;
1330 SoftBodyPoseData *m_pose;
1331 SoftBodyMaterialData **m_materials;
1332 SoftBodyNodeData *m_nodes;
1333 SoftBodyLinkData *m_links;
1334 SoftBodyFaceData *m_faces;
1335 SoftBodyTetraData *m_tetrahedra;
1336 SoftRigidAnchorData *m_anchors;
1337 SoftBodyClusterData *m_clusters;
1338 btSoftBodyJointData *m_joints;
1339 int m_numMaterials;
1340 int m_numNodes;
1341 int m_numLinks;
1342 int m_numFaces;
1343 int m_numTetrahedra;
1344 int m_numAnchors;
1345 int m_numClusters;
1346 int m_numJoints;
1347 SoftBodyConfigData m_config;
1348 };
1349
1350
1351 // -------------------------------------------------- //
1352 class btMultiBodyLinkDoubleData
1353 {
1354 public:
1355 btQuaternionDoubleData m_zeroRotParentToThis;
1356 btVector3DoubleData m_parentComToThisComOffset;
1357 btVector3DoubleData m_thisPivotToThisComOffset;
1358 btVector3DoubleData m_jointAxisTop[6];
1359 btVector3DoubleData m_jointAxisBottom[6];
1360 btVector3DoubleData m_linkInertia;
1361 double m_linkMass;
1362 int m_parentIndex;
1363 int m_jointType;
1364 int m_dofCount;
1365 int m_posVarCount;
1366 double m_jointPos[7];
1367 double m_jointVel[6];
1368 double m_jointTorque[6];
1369 double m_jointDamping;
1370 double m_jointFriction;
1371 double m_jointLowerLimit;
1372 double m_jointUpperLimit;
1373 double m_jointMaxForce;
1374 double m_jointMaxVelocity;
1375 char *m_linkName;
1376 char *m_jointName;
1377 btCollisionObjectDoubleData *m_linkCollider;
1378 char *m_paddingPtr;
1379 };
1380
1381
1382 // -------------------------------------------------- //
1383 class btMultiBodyLinkFloatData
1384 {
1385 public:
1386 btQuaternionFloatData m_zeroRotParentToThis;
1387 btVector3FloatData m_parentComToThisComOffset;
1388 btVector3FloatData m_thisPivotToThisComOffset;
1389 btVector3FloatData m_jointAxisTop[6];
1390 btVector3FloatData m_jointAxisBottom[6];
1391 btVector3FloatData m_linkInertia;
1392 int m_dofCount;
1393 float m_linkMass;
1394 int m_parentIndex;
1395 int m_jointType;
1396 float m_jointPos[7];
1397 float m_jointVel[6];
1398 float m_jointTorque[6];
1399 int m_posVarCount;
1400 float m_jointDamping;
1401 float m_jointFriction;
1402 float m_jointLowerLimit;
1403 float m_jointUpperLimit;
1404 float m_jointMaxForce;
1405 float m_jointMaxVelocity;
1406 char *m_linkName;
1407 char *m_jointName;
1408 btCollisionObjectFloatData *m_linkCollider;
1409 char *m_paddingPtr;
1410 };
1411
1412
1413 // -------------------------------------------------- //
1414 class btMultiBodyDoubleData
1415 {
1416 public:
1417 btTransformDoubleData m_baseWorldTransform;
1418 btVector3DoubleData m_baseInertia;
1419 double m_baseMass;
1420 char *m_baseName;
1421 btMultiBodyLinkDoubleData *m_links;
1422 btCollisionObjectDoubleData *m_baseCollider;
1423 char *m_paddingPtr;
1424 int m_numLinks;
1425 char m_padding[4];
1426 };
1427
1428
1429 // -------------------------------------------------- //
1430 class btMultiBodyFloatData
1431 {
1432 public:
1433 char *m_baseName;
1434 btMultiBodyLinkFloatData *m_links;
1435 btCollisionObjectFloatData *m_baseCollider;
1436 btTransformFloatData m_baseWorldTransform;
1437 btVector3FloatData m_baseInertia;
1438 float m_baseMass;
1439 int m_numLinks;
1440 };
1441
1442
1443 }
1444 #endif//__BULLET_H__
Bullet::btGearConstraintDoubleData::m_axisInA
btVector3DoubleData m_axisInA
Definition: bullet.h:1137
Bullet::btCollisionObjectFloatData::m_broadphaseHandle
void * m_broadphaseHandle
Definition: bullet.h:577
Bullet::btOptimizedBvhNodeFloatData::m_pad
char m_pad[4]
Definition: bullet.h:228
Bullet::btBvhSubtreeInfoData::m_quantizedAabbMax
short m_quantizedAabbMax[3]
Definition: bullet.h:215
Bullet::SoftBodyClusterData::m_framexform
btTransformFloatData m_framexform
Definition: bullet.h:1276
Bullet::btMeshPartData::m_3indices8
btCharIndexTripletData * m_3indices8
Definition: bullet.h:390
Bullet::btRigidBodyDoubleData::m_invInertiaLocal
btVector3DoubleData m_invInertiaLocal
Definition: bullet.h:723
Bullet::btTriangleMeshShapeData
Definition: bullet.h:409
Bullet::btTypedConstraintData::m_appliedImpulse
float m_appliedImpulse
Definition: bullet.h:780
Bullet::btConeTwistConstraintData::m_swingSpan1
float m_swingSpan1
Definition: bullet.h:925
Bullet::btHingeConstraintDoubleData2::m_rbAFrame
btTransformDoubleData m_rbAFrame
Definition: bullet.h:885
Bullet::btGImpactMeshShapeData::m_collisionMargin
float m_collisionMargin
Definition: bullet.h:522
Bullet::btCollisionObjectFloatData::m_hitFraction
float m_hitFraction
Definition: bullet.h:593
Bullet::SoftBodyClusterData::m_adamping
float m_adamping
Definition: bullet.h:1296
Bullet::btOptimizedBvhNodeFloatData::m_aabbMinOrg
btVector3FloatData m_aabbMinOrg
Definition: bullet.h:223
Bullet::btCollisionObjectDoubleData::m_interpolationWorldTransform
btTransformDoubleData m_interpolationWorldTransform
Definition: bullet.h:548
Bullet::btMultiBodyLinkFloatData::m_jointDamping
float m_jointDamping
Definition: bullet.h:1400
Bullet::btQuantizedBvhDoubleData::m_curNodeIndex
int m_curNodeIndex
Definition: bullet.h:281
Bullet::btRigidBodyFloatData::m_angularSleepingThreshold
float m_angularSleepingThreshold
Definition: bullet.h:706
Bullet::btRigidBodyFloatData::m_additionalLinearDampingThresholdSqr
float m_additionalLinearDampingThresholdSqr
Definition: bullet.h:702
Bullet::btHingeConstraintFloatData::m_enableAngularMotor
int m_enableAngularMotor
Definition: bullet.h:869
Bullet::SoftBodyConfigData::m_volume
float m_volume
Definition: bullet.h:1230
Bullet::btQuantizedBvhFloatData::m_bvhAabbMax
btVector3FloatData m_bvhAabbMax
Definition: bullet.h:260
Bullet::btConstraintInfo1::m_numConstraintRows
int m_numConstraintRows
Definition: bullet.h:744
Bullet::btSoftBodyJointData::m_erp
float m_erp
Definition: bullet.h:1314
Bullet::btQuantizedBvhDoubleData
Definition: bullet.h:275
Bullet::btSoftBodyJointData::m_bodyB
void * m_bodyB
Definition: bullet.h:1311
Bullet::btTypedConstraintDoubleData::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: bullet.h:803
Bullet::btTypedConstraintDoubleData::m_objectType
int m_objectType
Definition: bullet.h:796
Bullet::btGeneric6DofSpring2ConstraintData::m_rotateOrder
int m_rotateOrder
Definition: bullet.h:1036
Bullet::btGeneric6DofSpring2ConstraintData::m_angularStopCFM
btVector3FloatData m_angularStopCFM
Definition: bullet.h:1022
Bullet::btSoftBodyJointData::m_jointType
int m_jointType
Definition: bullet.h:1320
Bullet::btRigidBodyDoubleData::m_angularFactor
btVector3DoubleData m_angularFactor
Definition: bullet.h:719
Bullet::btMultiBodyLinkFloatData::m_posVarCount
int m_posVarCount
Definition: bullet.h:1399
Bullet::btRigidBodyDoubleData::m_additionalLinearDampingThresholdSqr
double m_additionalLinearDampingThresholdSqr
Definition: bullet.h:730
Bullet::btCapsuleShapeData::m_convexInternalShapeData
btConvexInternalShapeData m_convexInternalShapeData
Definition: bullet.h:477
Bullet::btConeTwistConstraintDoubleData::m_damping
double m_damping
Definition: bullet.h:914
Bullet::btCollisionObjectFloatData::m_restitution
float m_restitution
Definition: bullet.h:592
Bullet::SoftBodyPoseData::m_rot
btMatrix3x3FloatData m_rot
Definition: bullet.h:1257
Bullet::btMultiBodyDoubleData::m_baseName
char * m_baseName
Definition: bullet.h:1420
Bullet::btCollisionObjectFloatData::m_contactStiffness
float m_contactStiffness
Definition: bullet.h:591
Bullet::btMultiBodyLinkFloatData::m_jointAxisTop
btVector3FloatData m_jointAxisTop[6]
Definition: bullet.h:1389
Bullet::SoftBodyConfigData::m_positionIterations
int m_positionIterations
Definition: bullet.h:1246
Bullet::btGeneric6DofSpring2ConstraintData::m_linearLowerLimit
btVector3FloatData m_linearLowerLimit
Definition: bullet.h:1000
Bullet::SoftBodyPoseData::m_positions
btVector3FloatData * m_positions
Definition: bullet.h:1261
Bullet::btGeneric6DofSpring2ConstraintData::m_angularMotorCFM
btVector3FloatData m_angularMotorCFM
Definition: bullet.h:1024
Bullet::SoftBodyClusterData::m_numNodes
int m_numNodes
Definition: bullet.h:1288
Bullet::SoftBodyConfigData::m_lift
float m_lift
Definition: bullet.h:1228
Bullet::btConeTwistConstraintData::m_damping
float m_damping
Definition: bullet.h:931
Bullet::btMultiBodyLinkFloatData::m_jointFriction
float m_jointFriction
Definition: bullet.h:1401
Bullet::SoftBodyLinkData::m_restLength
float m_restLength
Definition: bullet.h:1177
Bullet::btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: bullet.h:654
Bullet::btPoint2PointConstraintFloatData::m_pivotInB
btVector3FloatData m_pivotInB
Definition: bullet.h:816
Bullet::btTypedConstraintData::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: bullet.h:783
Bullet::btQuantizedBvhFloatData
Definition: bullet.h:256
Bullet::btSoftBodyJointData::m_bodyAtype
int m_bodyAtype
Definition: bullet.h:1318
Bullet::btStaticPlaneShapeData::m_localScaling
btVector3FloatData m_localScaling
Definition: bullet.h:308
Bullet::btSoftBodyJointData::m_relPosition
btVector3FloatData m_relPosition[2]
Definition: bullet.h:1317
Bullet::btCollisionObjectFloatData::m_interpolationAngularVelocity
btVector3FloatData m_interpolationAngularVelocity
Definition: bullet.h:584
Bullet::btTransformFloatData::m_origin
btVector3FloatData m_origin
Definition: bullet.h:195
Bullet::btCollisionObjectDoubleData::m_worldTransform
btTransformDoubleData m_worldTransform
Definition: bullet.h:547
Bullet::btGeneric6DofSpring2ConstraintData::m_linearUpperLimit
btVector3FloatData m_linearUpperLimit
Definition: bullet.h:999
Bullet::btMultiBodyLinkDoubleData::m_jointTorque
double m_jointTorque[6]
Definition: bullet.h:1368
Bullet::btTypedConstraintFloatData::m_name
char * m_name
Definition: bullet.h:755
Bullet::btGeneric6DofSpring2ConstraintDoubleData2::m_linearServoMotor
char m_linearServoMotor[4]
Definition: bullet.h:1061
Bullet::btCollisionObjectFloatData::m_worldTransform
btTransformFloatData m_worldTransform
Definition: bullet.h:581
Bullet::btCollisionObjectDoubleData::m_friction
double m_friction
Definition: bullet.h:554
Bullet::btOptimizedBvhNodeDoubleData::m_aabbMaxOrg
btVector3DoubleData m_aabbMaxOrg
Definition: bullet.h:237
Bullet::SoftBodyLinkData::m_bbending
int m_bbending
Definition: bullet.h:1178
Bullet::btCollisionObjectFloatData::m_padding
char m_padding[4]
Definition: bullet.h:603
Bullet::btCollisionObjectFloatData::m_activationState1
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