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 {
27 int unused;
28 } bInvalidHandle;
29
30 class PointerArray;
31 class btPhysicsSystem;
32 class ListBase;
33 class btVector3FloatData;
34 class btVector3DoubleData;
35 class btQuaternionFloatData;
36 class btQuaternionDoubleData;
37 class btMatrix3x3FloatData;
38 class btMatrix3x3DoubleData;
39 class btTransformFloatData;
40 class btTransformDoubleData;
41 class btBvhSubtreeInfoData;
42 class btOptimizedBvhNodeFloatData;
43 class btOptimizedBvhNodeDoubleData;
44 class btQuantizedBvhNodeData;
45 class btQuantizedBvhFloatData;
46 class btQuantizedBvhDoubleData;
47 class btCollisionShapeData;
48 class btStaticPlaneShapeData;
49 class btConvexInternalShapeData;
50 class btPositionAndRadius;
51 class btMultiSphereShapeData;
52 class btIntIndexData;
53 class btShortIntIndexData;
54 class btShortIntIndexTripletData;
55 class btCharIndexTripletData;
56 class btMeshPartData;
57 class btStridingMeshInterfaceData;
58 class btTriangleMeshShapeData;
59 class btScaledTriangleMeshShapeData;
60 class btCompoundShapeChildData;
61 class btCompoundShapeData;
62 class btCylinderShapeData;
63 class btConeShapeData;
64 class btCapsuleShapeData;
65 class btTriangleInfoData;
66 class btTriangleInfoMapData;
67 class btPersistentManifoldDoubleData;
68 class btPersistentManifoldFloatData;
69 class btGImpactMeshShapeData;
70 class btConvexHullShapeData;
71 class btCollisionObjectDoubleData;
72 class btCollisionObjectFloatData;
73 class btContactSolverInfoDoubleData;
74 class btContactSolverInfoFloatData;
75 class btDynamicsWorldDoubleData;
76 class btDynamicsWorldFloatData;
77 class btRigidBodyFloatData;
78 class btRigidBodyDoubleData;
79 class btConstraintInfo1;
80 class btTypedConstraintFloatData;
81 class btTypedConstraintData;
82 class btTypedConstraintDoubleData;
83 class btPoint2PointConstraintFloatData;
84 class btPoint2PointConstraintDoubleData2;
85 class btPoint2PointConstraintDoubleData;
86 class btHingeConstraintDoubleData;
87 class btHingeConstraintFloatData;
88 class btHingeConstraintDoubleData2;
89 class btConeTwistConstraintDoubleData;
90 class btConeTwistConstraintData;
91 class btGeneric6DofConstraintData;
92 class btGeneric6DofConstraintDoubleData2;
93 class btGeneric6DofSpringConstraintData;
94 class btGeneric6DofSpringConstraintDoubleData2;
95 class btGeneric6DofSpring2ConstraintData;
96 class btGeneric6DofSpring2ConstraintDoubleData2;
97 class btSliderConstraintData;
98 class btSliderConstraintDoubleData;
99 class btGearConstraintFloatData;
100 class btGearConstraintDoubleData;
101 class SoftBodyMaterialData;
102 class SoftBodyNodeData;
103 class SoftBodyLinkData;
104 class SoftBodyFaceData;
105 class SoftBodyTetraData;
106 class SoftRigidAnchorData;
107 class SoftBodyConfigData;
108 class SoftBodyPoseData;
109 class SoftBodyClusterData;
110 class btSoftBodyJointData;
111 class btSoftBodyFloatData;
112 class btMultiBodyLinkDoubleData;
113 class btMultiBodyLinkFloatData;
114 class btMultiBodyDoubleData;
115 class btMultiBodyFloatData;
116 class btMultiBodyLinkColliderFloatData;
117 class btMultiBodyLinkColliderDoubleData;
118 // -------------------------------------------------- //
119 class PointerArray
120 {
121 public:
122 int m_size;
123 int m_capacity;
124 void *m_data;
125 };
126
127 // -------------------------------------------------- //
128 class btPhysicsSystem
129 {
130 public:
131 PointerArray m_collisionShapes;
132 PointerArray m_collisionObjects;
133 PointerArray m_constraints;
134 };
135
136 // -------------------------------------------------- //
137 class ListBase
138 {
139 public:
140 void *first;
141 void *last;
142 };
143
144 // -------------------------------------------------- //
145 class btVector3FloatData
146 {
147 public:
148 float m_floats[4];
149 };
150
151 // -------------------------------------------------- //
152 class btVector3DoubleData
153 {
154 public:
155 double m_floats[4];
156 };
157
158 // -------------------------------------------------- //
159 class btQuaternionFloatData
160 {
161 public:
162 float m_floats[4];
163 };
164
165 // -------------------------------------------------- //
166 class btQuaternionDoubleData
167 {
168 public:
169 double m_floats[4];
170 };
171
172 // -------------------------------------------------- //
173 class btMatrix3x3FloatData
174 {
175 public:
176 btVector3FloatData m_el[3];
177 };
178
179 // -------------------------------------------------- //
180 class btMatrix3x3DoubleData
181 {
182 public:
183 btVector3DoubleData m_el[3];
184 };
185
186 // -------------------------------------------------- //
187 class btTransformFloatData
188 {
189 public:
190 btMatrix3x3FloatData m_basis;
191 btVector3FloatData m_origin;
192 };
193
194 // -------------------------------------------------- //
195 class btTransformDoubleData
196 {
197 public:
198 btMatrix3x3DoubleData m_basis;
199 btVector3DoubleData m_origin;
200 };
201
202 // -------------------------------------------------- //
203 class btBvhSubtreeInfoData
204 {
205 public:
206 int m_rootNodeIndex;
207 int m_subtreeSize;
208 short m_quantizedAabbMin[3];
209 short m_quantizedAabbMax[3];
210 };
211
212 // -------------------------------------------------- //
213 class btOptimizedBvhNodeFloatData
214 {
215 public:
216 btVector3FloatData m_aabbMinOrg;
217 btVector3FloatData m_aabbMaxOrg;
218 int m_escapeIndex;
219 int m_subPart;
220 int m_triangleIndex;
221 char m_pad[4];
222 };
223
224 // -------------------------------------------------- //
225 class btOptimizedBvhNodeDoubleData
226 {
227 public:
228 btVector3DoubleData m_aabbMinOrg;
229 btVector3DoubleData m_aabbMaxOrg;
230 int m_escapeIndex;
231 int m_subPart;
232 int m_triangleIndex;
233 char m_pad[4];
234 };
235
236 // -------------------------------------------------- //
237 class btQuantizedBvhNodeData
238 {
239 public:
240 short m_quantizedAabbMin[3];
241 short m_quantizedAabbMax[3];
242 int m_escapeIndexOrTriangleIndex;
243 };
244
245 // -------------------------------------------------- //
246 class btQuantizedBvhFloatData
247 {
248 public:
249 btVector3FloatData m_bvhAabbMin;
250 btVector3FloatData m_bvhAabbMax;
251 btVector3FloatData m_bvhQuantization;
252 int m_curNodeIndex;
253 int m_useQuantization;
254 int m_numContiguousLeafNodes;
255 int m_numQuantizedContiguousNodes;
256 btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
257 btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
258 btBvhSubtreeInfoData *m_subTreeInfoPtr;
259 int m_traversalMode;
260 int m_numSubtreeHeaders;
261 };
262
263 // -------------------------------------------------- //
264 class btQuantizedBvhDoubleData
265 {
266 public:
267 btVector3DoubleData m_bvhAabbMin;
268 btVector3DoubleData m_bvhAabbMax;
269 btVector3DoubleData m_bvhQuantization;
270 int m_curNodeIndex;
271 int m_useQuantization;
272 int m_numContiguousLeafNodes;
273 int m_numQuantizedContiguousNodes;
274 btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
275 btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
276 int m_traversalMode;
277 int m_numSubtreeHeaders;
278 btBvhSubtreeInfoData *m_subTreeInfoPtr;
279 };
280
281 // -------------------------------------------------- //
282 class btCollisionShapeData
283 {
284 public:
285 char *m_name;
286 int m_shapeType;
287 char m_padding[4];
288 };
289
290 // -------------------------------------------------- //
291 class btStaticPlaneShapeData
292 {
293 public:
294 btCollisionShapeData m_collisionShapeData;
295 btVector3FloatData m_localScaling;
296 btVector3FloatData m_planeNormal;
297 float m_planeConstant;
298 char m_pad[4];
299 };
300
301 // -------------------------------------------------- //
302 class btConvexInternalShapeData
303 {
304 public:
305 btCollisionShapeData m_collisionShapeData;
306 btVector3FloatData m_localScaling;
307 btVector3FloatData m_implicitShapeDimensions;
308 float m_collisionMargin;
309 int m_padding;
310 };
311
312 // -------------------------------------------------- //
313 class btPositionAndRadius
314 {
315 public:
316 btVector3FloatData m_pos;
317 float m_radius;
318 };
319
320 // -------------------------------------------------- //
321 class btMultiSphereShapeData
322 {
323 public:
324 btConvexInternalShapeData m_convexInternalShapeData;
325 btPositionAndRadius *m_localPositionArrayPtr;
326 int m_localPositionArraySize;
327 char m_padding[4];
328 };
329
330 // -------------------------------------------------- //
331 class btIntIndexData
332 {
333 public:
334 int m_value;
335 };
336
337 // -------------------------------------------------- //
338 class btShortIntIndexData
339 {
340 public:
341 short m_value;
342 char m_pad[2];
343 };
344
345 // -------------------------------------------------- //
346 class btShortIntIndexTripletData
347 {
348 public:
349 short m_values[3];
350 char m_pad[2];
351 };
352
353 // -------------------------------------------------- //
354 class btCharIndexTripletData
355 {
356 public:
357 char m_values[3];
358 char m_pad;
359 };
360
361 // -------------------------------------------------- //
362 class btMeshPartData
363 {
364 public:
365 btVector3FloatData *m_vertices3f;
366 btVector3DoubleData *m_vertices3d;
367 btIntIndexData *m_indices32;
368 btShortIntIndexTripletData *m_3indices16;
369 btCharIndexTripletData *m_3indices8;
370 btShortIntIndexData *m_indices16;
371 int m_numTriangles;
372 int m_numVertices;
373 };
374
375 // -------------------------------------------------- //
376 class btStridingMeshInterfaceData
377 {
378 public:
379 btMeshPartData *m_meshPartsPtr;
380 btVector3FloatData m_scaling;
381 int m_numMeshParts;
382 char m_padding[4];
383 };
384
385 // -------------------------------------------------- //
386 class btTriangleMeshShapeData
387 {
388 public:
389 btCollisionShapeData m_collisionShapeData;
390 btStridingMeshInterfaceData m_meshInterface;
391 btQuantizedBvhFloatData *m_quantizedFloatBvh;
392 btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
393 btTriangleInfoMapData *m_triangleInfoMap;
394 float m_collisionMargin;
395 char m_pad3[4];
396 };
397
398 // -------------------------------------------------- //
399 class btScaledTriangleMeshShapeData
400 {
401 public:
402 btTriangleMeshShapeData m_trimeshShapeData;
403 btVector3FloatData m_localScaling;
404 };
405
406 // -------------------------------------------------- //
407 class btCompoundShapeChildData
408 {
409 public:
410 btTransformFloatData m_transform;
411 btCollisionShapeData *m_childShape;
412 int m_childShapeType;
413 float m_childMargin;
414 };
415
416 // -------------------------------------------------- //
417 class btCompoundShapeData
418 {
419 public:
420 btCollisionShapeData m_collisionShapeData;
421 btCompoundShapeChildData *m_childShapePtr;
422 int m_numChildShapes;
423 float m_collisionMargin;
424 };
425
426 // -------------------------------------------------- //
427 class btCylinderShapeData
428 {
429 public:
430 btConvexInternalShapeData m_convexInternalShapeData;
431 int m_upAxis;
432 char m_padding[4];
433 };
434
435 // -------------------------------------------------- //
436 class btConeShapeData
437 {
438 public:
439 btConvexInternalShapeData m_convexInternalShapeData;
440 int m_upIndex;
441 char m_padding[4];
442 };
443
444 // -------------------------------------------------- //
445 class btCapsuleShapeData
446 {
447 public:
448 btConvexInternalShapeData m_convexInternalShapeData;
449 int m_upAxis;
450 char m_padding[4];
451 };
452
453 // -------------------------------------------------- //
454 class btTriangleInfoData
455 {
456 public:
457 int m_flags;
458 float m_edgeV0V1Angle;
459 float m_edgeV1V2Angle;
460 float m_edgeV2V0Angle;
461 };
462
463 // -------------------------------------------------- //
464 class btTriangleInfoMapData
465 {
466 public:
467 int *m_hashTablePtr;
468 int *m_nextPtr;
469 btTriangleInfoData *m_valueArrayPtr;
470 int *m_keyArrayPtr;
471 float m_convexEpsilon;
472 float m_planarEpsilon;
473 float m_equalVertexThreshold;
474 float m_edgeDistanceThreshold;
475 float m_zeroAreaThreshold;
476 int m_nextSize;
477 int m_hashTableSize;
478 int m_numValues;
479 int m_numKeys;
480 char m_padding[4];
481 };
482
483 // -------------------------------------------------- //
484 class btPersistentManifoldDoubleData
485 {
486 public:
487 btVector3DoubleData m_pointCacheLocalPointA[4];
488 btVector3DoubleData m_pointCacheLocalPointB[4];
489 btVector3DoubleData m_pointCachePositionWorldOnA[4];
490 btVector3DoubleData m_pointCachePositionWorldOnB[4];
491 btVector3DoubleData m_pointCacheNormalWorldOnB[4];
492 btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
493 btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
494 double m_pointCacheDistance[4];
495 double m_pointCacheAppliedImpulse[4];
496 double m_pointCacheCombinedFriction[4];
497 double m_pointCacheCombinedRollingFriction[4];
498 double m_pointCacheCombinedSpinningFriction[4];
499 double m_pointCacheCombinedRestitution[4];
500 int m_pointCachePartId0[4];
501 int m_pointCachePartId1[4];
502 int m_pointCacheIndex0[4];
503 int m_pointCacheIndex1[4];
504 int m_pointCacheContactPointFlags[4];
505 double m_pointCacheAppliedImpulseLateral1[4];
506 double m_pointCacheAppliedImpulseLateral2[4];
507 double m_pointCacheContactMotion1[4];
508 double m_pointCacheContactMotion2[4];
509 double m_pointCacheContactCFM[4];
510 double m_pointCacheCombinedContactStiffness1[4];
511 double m_pointCacheContactERP[4];
512 double m_pointCacheCombinedContactDamping1[4];
513 double m_pointCacheFrictionCFM[4];
514 int m_pointCacheLifeTime[4];
515 int m_numCachedPoints;
516 int m_companionIdA;
517 int m_companionIdB;
518 int m_index1a;
519 int m_objectType;
520 double m_contactBreakingThreshold;
521 double m_contactProcessingThreshold;
522 int m_padding;
523 btCollisionObjectDoubleData *m_body0;
524 btCollisionObjectDoubleData *m_body1;
525 };
526
527 // -------------------------------------------------- //
528 class btPersistentManifoldFloatData
529 {
530 public:
531 btVector3FloatData m_pointCacheLocalPointA[4];
532 btVector3FloatData m_pointCacheLocalPointB[4];
533 btVector3FloatData m_pointCachePositionWorldOnA[4];
534 btVector3FloatData m_pointCachePositionWorldOnB[4];
535 btVector3FloatData m_pointCacheNormalWorldOnB[4];
536 btVector3FloatData m_pointCacheLateralFrictionDir1[4];
537 btVector3FloatData m_pointCacheLateralFrictionDir2[4];
538 float m_pointCacheDistance[4];
539 float m_pointCacheAppliedImpulse[4];
540 float m_pointCacheCombinedFriction[4];
541 float m_pointCacheCombinedRollingFriction[4];
542 float m_pointCacheCombinedSpinningFriction[4];
543 float m_pointCacheCombinedRestitution[4];
544 int m_pointCachePartId0[4];
545 int m_pointCachePartId1[4];
546 int m_pointCacheIndex0[4];
547 int m_pointCacheIndex1[4];
548 int m_pointCacheContactPointFlags[4];
549 float m_pointCacheAppliedImpulseLateral1[4];
550 float m_pointCacheAppliedImpulseLateral2[4];
551 float m_pointCacheContactMotion1[4];
552 float m_pointCacheContactMotion2[4];
553 float m_pointCacheContactCFM[4];
554 float m_pointCacheCombinedContactStiffness1[4];
555 float m_pointCacheContactERP[4];
556 float m_pointCacheCombinedContactDamping1[4];
557 float m_pointCacheFrictionCFM[4];
558 int m_pointCacheLifeTime[4];
559 int m_numCachedPoints;
560 int m_companionIdA;
561 int m_companionIdB;
562 int m_index1a;
563 int m_objectType;
564 float m_contactBreakingThreshold;
565 float m_contactProcessingThreshold;
566 int m_padding;
567 btCollisionObjectFloatData *m_body0;
568 btCollisionObjectFloatData *m_body1;
569 };
570
571 // -------------------------------------------------- //
572 class btGImpactMeshShapeData
573 {
574 public:
575 btCollisionShapeData m_collisionShapeData;
576 btStridingMeshInterfaceData m_meshInterface;
577 btVector3FloatData m_localScaling;
578 float m_collisionMargin;
579 int m_gimpactSubType;
580 };
581
582 // -------------------------------------------------- //
583 class btConvexHullShapeData
584 {
585 public:
586 btConvexInternalShapeData m_convexInternalShapeData;
587 btVector3FloatData *m_unscaledPointsFloatPtr;
588 btVector3DoubleData *m_unscaledPointsDoublePtr;
589 int m_numUnscaledPoints;
590 char m_padding3[4];
591 };
592
593 // -------------------------------------------------- //
594 class btCollisionObjectDoubleData
595 {
596 public:
597 void *m_broadphaseHandle;
598 void *m_collisionShape;
599 btCollisionShapeData *m_rootCollisionShape;
600 char *m_name;
601 btTransformDoubleData m_worldTransform;
602 btTransformDoubleData m_interpolationWorldTransform;
603 btVector3DoubleData m_interpolationLinearVelocity;
604 btVector3DoubleData m_interpolationAngularVelocity;
605 btVector3DoubleData m_anisotropicFriction;
606 double m_contactProcessingThreshold;
607 double m_deactivationTime;
608 double m_friction;
609 double m_rollingFriction;
610 double m_contactDamping;
611 double m_contactStiffness;
612 double m_restitution;
613 double m_hitFraction;
614 double m_ccdSweptSphereRadius;
615 double m_ccdMotionThreshold;
616 int m_hasAnisotropicFriction;
617 int m_collisionFlags;
618 int m_islandTag1;
619 int m_companionId;
620 int m_activationState1;
621 int m_internalType;
622 int m_checkCollideWith;
623 int m_collisionFilterGroup;
624 int m_collisionFilterMask;
625 int m_uniqueId;
626 };
627
628 // -------------------------------------------------- //
629 class btCollisionObjectFloatData
630 {
631 public:
632 void *m_broadphaseHandle;
633 void *m_collisionShape;
634 btCollisionShapeData *m_rootCollisionShape;
635 char *m_name;
636 btTransformFloatData m_worldTransform;
637 btTransformFloatData m_interpolationWorldTransform;
638 btVector3FloatData m_interpolationLinearVelocity;
639 btVector3FloatData m_interpolationAngularVelocity;
640 btVector3FloatData m_anisotropicFriction;
641 float m_contactProcessingThreshold;
642 float m_deactivationTime;
643 float m_friction;
644 float m_rollingFriction;
645 float m_contactDamping;
646 float m_contactStiffness;
647 float m_restitution;
648 float m_hitFraction;
649 float m_ccdSweptSphereRadius;
650 float m_ccdMotionThreshold;
651 int m_hasAnisotropicFriction;
652 int m_collisionFlags;
653 int m_islandTag1;
654 int m_companionId;
655 int m_activationState1;
656 int m_internalType;
657 int m_checkCollideWith;
658 int m_collisionFilterGroup;
659 int m_collisionFilterMask;
660 int m_uniqueId;
661 };
662
663 // -------------------------------------------------- //
664 class btContactSolverInfoDoubleData
665 {
666 public:
667 double m_tau;
668 double m_damping;
669 double m_friction;
670 double m_timeStep;
671 double m_restitution;
672 double m_maxErrorReduction;
673 double m_sor;
674 double m_erp;
675 double m_erp2;
676 double m_globalCfm;
677 double m_splitImpulsePenetrationThreshold;
678 double m_splitImpulseTurnErp;
679 double m_linearSlop;
680 double m_warmstartingFactor;
681 double m_maxGyroscopicForce;
682 double m_singleAxisRollingFrictionThreshold;
683 int m_numIterations;
684 int m_solverMode;
685 int m_restingContactRestitutionThreshold;
686 int m_minimumSolverBatchSize;
687 int m_splitImpulse;
688 char m_padding[4];
689 };
690
691 // -------------------------------------------------- //
692 class btContactSolverInfoFloatData
693 {
694 public:
695 float m_tau;
696 float m_damping;
697 float m_friction;
698 float m_timeStep;
699 float m_restitution;
700 float m_maxErrorReduction;
701 float m_sor;
702 float m_erp;
703 float m_erp2;
704 float m_globalCfm;
705 float m_splitImpulsePenetrationThreshold;
706 float m_splitImpulseTurnErp;
707 float m_linearSlop;
708 float m_warmstartingFactor;
709 float m_maxGyroscopicForce;
710 float m_singleAxisRollingFrictionThreshold;
711 int m_numIterations;
712 int m_solverMode;
713 int m_restingContactRestitutionThreshold;
714 int m_minimumSolverBatchSize;
715 int m_splitImpulse;
716 char m_padding[4];
717 };
718
719 // -------------------------------------------------- //
720 class btDynamicsWorldDoubleData
721 {
722 public:
723 btContactSolverInfoDoubleData m_solverInfo;
724 btVector3DoubleData m_gravity;
725 };
726
727 // -------------------------------------------------- //
728 class btDynamicsWorldFloatData
729 {
730 public:
731 btContactSolverInfoFloatData m_solverInfo;
732 btVector3FloatData m_gravity;
733 };
734
735 // -------------------------------------------------- //
736 class btRigidBodyFloatData
737 {
738 public:
739 btCollisionObjectFloatData m_collisionObjectData;
740 btMatrix3x3FloatData m_invInertiaTensorWorld;
741 btVector3FloatData m_linearVelocity;
742 btVector3FloatData m_angularVelocity;
743 btVector3FloatData m_angularFactor;
744 btVector3FloatData m_linearFactor;
745 btVector3FloatData m_gravity;
746 btVector3FloatData m_gravity_acceleration;
747 btVector3FloatData m_invInertiaLocal;
748 btVector3FloatData m_totalForce;
749 btVector3FloatData m_totalTorque;
750 float m_inverseMass;
751 float m_linearDamping;
752 float m_angularDamping;
753 float m_additionalDampingFactor;
754 float m_additionalLinearDampingThresholdSqr;
755 float m_additionalAngularDampingThresholdSqr;
756 float m_additionalAngularDampingFactor;
757 float m_linearSleepingThreshold;
758 float m_angularSleepingThreshold;
759 int m_additionalDamping;
760 };
761
762 // -------------------------------------------------- //
763 class btRigidBodyDoubleData
764 {
765 public:
766 btCollisionObjectDoubleData m_collisionObjectData;
767 btMatrix3x3DoubleData m_invInertiaTensorWorld;
768 btVector3DoubleData m_linearVelocity;
769 btVector3DoubleData m_angularVelocity;
770 btVector3DoubleData m_angularFactor;
771 btVector3DoubleData m_linearFactor;
772 btVector3DoubleData m_gravity;
773 btVector3DoubleData m_gravity_acceleration;
774 btVector3DoubleData m_invInertiaLocal;
775 btVector3DoubleData m_totalForce;
776 btVector3DoubleData m_totalTorque;
777 double m_inverseMass;
778 double m_linearDamping;
779 double m_angularDamping;
780 double m_additionalDampingFactor;
781 double m_additionalLinearDampingThresholdSqr;
782 double m_additionalAngularDampingThresholdSqr;
783 double m_additionalAngularDampingFactor;
784 double m_linearSleepingThreshold;
785 double m_angularSleepingThreshold;
786 int m_additionalDamping;
787 char m_padding[4];
788 };
789
790 // -------------------------------------------------- //
791 class btConstraintInfo1
792 {
793 public:
794 int m_numConstraintRows;
795 int nub;
796 };
797
798 // -------------------------------------------------- //
799 class btTypedConstraintFloatData
800 {
801 public:
802 btRigidBodyFloatData *m_rbA;
803 btRigidBodyFloatData *m_rbB;
804 char *m_name;
805 int m_objectType;
806 int m_userConstraintType;
807 int m_userConstraintId;
808 int m_needsFeedback;
809 float m_appliedImpulse;
810 float m_dbgDrawSize;
811 int m_disableCollisionsBetweenLinkedBodies;
812 int m_overrideNumSolverIterations;
813 float m_breakingImpulseThreshold;
814 int m_isEnabled;
815 };
816
817 // -------------------------------------------------- //
818 class btTypedConstraintData
819 {
820 public:
821 bInvalidHandle *m_rbA;
822 bInvalidHandle *m_rbB;
823 char *m_name;
824 int m_objectType;
825 int m_userConstraintType;
826 int m_userConstraintId;
827 int m_needsFeedback;
828 float m_appliedImpulse;
829 float m_dbgDrawSize;
830 int m_disableCollisionsBetweenLinkedBodies;
831 int m_overrideNumSolverIterations;
832 float m_breakingImpulseThreshold;
833 int m_isEnabled;
834 };
835
836 // -------------------------------------------------- //
837 class btTypedConstraintDoubleData
838 {
839 public:
840 btRigidBodyDoubleData *m_rbA;
841 btRigidBodyDoubleData *m_rbB;
842 char *m_name;
843 int m_objectType;
844 int m_userConstraintType;
845 int m_userConstraintId;
846 int m_needsFeedback;
847 double m_appliedImpulse;
848 double m_dbgDrawSize;
849 int m_disableCollisionsBetweenLinkedBodies;
850 int m_overrideNumSolverIterations;
851 double m_breakingImpulseThreshold;
852 int m_isEnabled;
853 char padding[4];
854 };
855
856 // -------------------------------------------------- //
857 class btPoint2PointConstraintFloatData
858 {
859 public:
860 btTypedConstraintData m_typeConstraintData;
861 btVector3FloatData m_pivotInA;
862 btVector3FloatData m_pivotInB;
863 };
864
865 // -------------------------------------------------- //
866 class btPoint2PointConstraintDoubleData2
867 {
868 public:
869 btTypedConstraintDoubleData m_typeConstraintData;
870 btVector3DoubleData m_pivotInA;
871 btVector3DoubleData m_pivotInB;
872 };
873
874 // -------------------------------------------------- //
875 class btPoint2PointConstraintDoubleData
876 {
877 public:
878 btTypedConstraintData m_typeConstraintData;
879 btVector3DoubleData m_pivotInA;
880 btVector3DoubleData m_pivotInB;
881 };
882
883 // -------------------------------------------------- //
884 class btHingeConstraintDoubleData
885 {
886 public:
887 btTypedConstraintData m_typeConstraintData;
888 btTransformDoubleData m_rbAFrame;
889 btTransformDoubleData m_rbBFrame;
890 int m_useReferenceFrameA;
891 int m_angularOnly;
892 int m_enableAngularMotor;
893 float m_motorTargetVelocity;
894 float m_maxMotorImpulse;
895 float m_lowerLimit;
896 float m_upperLimit;
897 float m_limitSoftness;
898 float m_biasFactor;
899 float m_relaxationFactor;
900 };
901
902 // -------------------------------------------------- //
903 class btHingeConstraintFloatData
904 {
905 public:
906 btTypedConstraintData m_typeConstraintData;
907 btTransformFloatData m_rbAFrame;
908 btTransformFloatData m_rbBFrame;
909 int m_useReferenceFrameA;
910 int m_angularOnly;
911 int m_enableAngularMotor;
912 float m_motorTargetVelocity;
913 float m_maxMotorImpulse;
914 float m_lowerLimit;
915 float m_upperLimit;
916 float m_limitSoftness;
917 float m_biasFactor;
918 float m_relaxationFactor;
919 };
920
921 // -------------------------------------------------- //
922 class btHingeConstraintDoubleData2
923 {
924 public:
925 btTypedConstraintDoubleData m_typeConstraintData;
926 btTransformDoubleData m_rbAFrame;
927 btTransformDoubleData m_rbBFrame;
928 int m_useReferenceFrameA;
929 int m_angularOnly;
930 int m_enableAngularMotor;
931 double m_motorTargetVelocity;
932 double m_maxMotorImpulse;
933 double m_lowerLimit;
934 double m_upperLimit;
935 double m_limitSoftness;
936 double m_biasFactor;
937 double m_relaxationFactor;
938 char m_padding1[4];
939 };
940
941 // -------------------------------------------------- //
942 class btConeTwistConstraintDoubleData
943 {
944 public:
945 btTypedConstraintDoubleData m_typeConstraintData;
946 btTransformDoubleData m_rbAFrame;
947 btTransformDoubleData m_rbBFrame;
948 double m_swingSpan1;
949 double m_swingSpan2;
950 double m_twistSpan;
951 double m_limitSoftness;
952 double m_biasFactor;
953 double m_relaxationFactor;
954 double m_damping;
955 };
956
957 // -------------------------------------------------- //
958 class btConeTwistConstraintData
959 {
960 public:
961 btTypedConstraintData m_typeConstraintData;
962 btTransformFloatData m_rbAFrame;
963 btTransformFloatData m_rbBFrame;
964 float m_swingSpan1;
965 float m_swingSpan2;
966 float m_twistSpan;
967 float m_limitSoftness;
968 float m_biasFactor;
969 float m_relaxationFactor;
970 float m_damping;
971 char m_pad[4];
972 };
973
974 // -------------------------------------------------- //
975 class btGeneric6DofConstraintData
976 {
977 public:
978 btTypedConstraintData m_typeConstraintData;
979 btTransformFloatData m_rbAFrame;
980 btTransformFloatData m_rbBFrame;
981 btVector3FloatData m_linearUpperLimit;
982 btVector3FloatData m_linearLowerLimit;
983 btVector3FloatData m_angularUpperLimit;
984 btVector3FloatData m_angularLowerLimit;
985 int m_useLinearReferenceFrameA;
986 int m_useOffsetForConstraintFrame;
987 };
988
989 // -------------------------------------------------- //
990 class btGeneric6DofConstraintDoubleData2
991 {
992 public:
993 btTypedConstraintDoubleData m_typeConstraintData;
994 btTransformDoubleData m_rbAFrame;
995 btTransformDoubleData m_rbBFrame;
996 btVector3DoubleData m_linearUpperLimit;
997 btVector3DoubleData m_linearLowerLimit;
998 btVector3DoubleData m_angularUpperLimit;
999 btVector3DoubleData m_angularLowerLimit;
1000 int m_useLinearReferenceFrameA;
1001 int m_useOffsetForConstraintFrame;
1002 };
1003
1004 // -------------------------------------------------- //
1005 class btGeneric6DofSpringConstraintData
1006 {
1007 public:
1008 btGeneric6DofConstraintData m_6dofData;
1009 int m_springEnabled[6];
1010 float m_equilibriumPoint[6];
1011 float m_springStiffness[6];
1012 float m_springDamping[6];
1013 };
1014
1015 // -------------------------------------------------- //
1016 class btGeneric6DofSpringConstraintDoubleData2
1017 {
1018 public:
1019 btGeneric6DofConstraintDoubleData2 m_6dofData;
1020 int m_springEnabled[6];
1021 double m_equilibriumPoint[6];
1022 double m_springStiffness[6];
1023 double m_springDamping[6];
1024 };
1025
1026 // -------------------------------------------------- //
1027 class btGeneric6DofSpring2ConstraintData
1028 {
1029 public:
1030 btTypedConstraintData m_typeConstraintData;
1031 btTransformFloatData m_rbAFrame;
1032 btTransformFloatData m_rbBFrame;
1033 btVector3FloatData m_linearUpperLimit;
1034 btVector3FloatData m_linearLowerLimit;
1035 btVector3FloatData m_linearBounce;
1036 btVector3FloatData m_linearStopERP;
1037 btVector3FloatData m_linearStopCFM;
1038 btVector3FloatData m_linearMotorERP;
1039 btVector3FloatData m_linearMotorCFM;
1040 btVector3FloatData m_linearTargetVelocity;
1041 btVector3FloatData m_linearMaxMotorForce;
1042 btVector3FloatData m_linearServoTarget;
1043 btVector3FloatData m_linearSpringStiffness;
1044 btVector3FloatData m_linearSpringDamping;
1045 btVector3FloatData m_linearEquilibriumPoint;
1046 char m_linearEnableMotor[4];
1047 char m_linearServoMotor[4];
1048 char m_linearEnableSpring[4];
1049 char m_linearSpringStiffnessLimited[4];
1050 char m_linearSpringDampingLimited[4];
1051 char m_padding1[4];
1052 btVector3FloatData m_angularUpperLimit;
1053 btVector3FloatData m_angularLowerLimit;
1054 btVector3FloatData m_angularBounce;
1055 btVector3FloatData m_angularStopERP;
1056 btVector3FloatData m_angularStopCFM;
1057 btVector3FloatData m_angularMotorERP;
1058 btVector3FloatData m_angularMotorCFM;
1059 btVector3FloatData m_angularTargetVelocity;
1060 btVector3FloatData m_angularMaxMotorForce;
1061 btVector3FloatData m_angularServoTarget;
1062 btVector3FloatData m_angularSpringStiffness;
1063 btVector3FloatData m_angularSpringDamping;
1064 btVector3FloatData m_angularEquilibriumPoint;
1065 char m_angularEnableMotor[4];
1066 char m_angularServoMotor[4];
1067 char m_angularEnableSpring[4];
1068 char m_angularSpringStiffnessLimited[4];
1069 char m_angularSpringDampingLimited[4];
1070 int m_rotateOrder;
1071 };
1072
1073 // -------------------------------------------------- //
1074 class btGeneric6DofSpring2ConstraintDoubleData2
1075 {
1076 public:
1077 btTypedConstraintDoubleData m_typeConstraintData;
1078 btTransformDoubleData m_rbAFrame;
1079 btTransformDoubleData m_rbBFrame;
1080 btVector3DoubleData m_linearUpperLimit;
1081 btVector3DoubleData m_linearLowerLimit;
1082 btVector3DoubleData m_linearBounce;
1083 btVector3DoubleData m_linearStopERP;
1084 btVector3DoubleData m_linearStopCFM;
1085 btVector3DoubleData m_linearMotorERP;
1086 btVector3DoubleData m_linearMotorCFM;
1087 btVector3DoubleData m_linearTargetVelocity;
1088 btVector3DoubleData m_linearMaxMotorForce;
1089 btVector3DoubleData m_linearServoTarget;
1090 btVector3DoubleData m_linearSpringStiffness;
1091 btVector3DoubleData m_linearSpringDamping;
1092 btVector3DoubleData m_linearEquilibriumPoint;
1093 char m_linearEnableMotor[4];
1094 char m_linearServoMotor[4];
1095 char m_linearEnableSpring[4];
1096 char m_linearSpringStiffnessLimited[4];
1097 char m_linearSpringDampingLimited[4];
1098 char m_padding1[4];
1099 btVector3DoubleData m_angularUpperLimit;
1100 btVector3DoubleData m_angularLowerLimit;
1101 btVector3DoubleData m_angularBounce;
1102 btVector3DoubleData m_angularStopERP;
1103 btVector3DoubleData m_angularStopCFM;
1104 btVector3DoubleData m_angularMotorERP;
1105 btVector3DoubleData m_angularMotorCFM;
1106 btVector3DoubleData m_angularTargetVelocity;
1107 btVector3DoubleData m_angularMaxMotorForce;
1108 btVector3DoubleData m_angularServoTarget;
1109 btVector3DoubleData m_angularSpringStiffness;
1110 btVector3DoubleData m_angularSpringDamping;
1111 btVector3DoubleData m_angularEquilibriumPoint;
1112 char m_angularEnableMotor[4];
1113 char m_angularServoMotor[4];
1114 char m_angularEnableSpring[4];
1115 char m_angularSpringStiffnessLimited[4];
1116 char m_angularSpringDampingLimited[4];
1117 int m_rotateOrder;
1118 };
1119
1120 // -------------------------------------------------- //
1121 class btSliderConstraintData
1122 {
1123 public:
1124 btTypedConstraintData m_typeConstraintData;
1125 btTransformFloatData m_rbAFrame;
1126 btTransformFloatData m_rbBFrame;
1127 float m_linearUpperLimit;
1128 float m_linearLowerLimit;
1129 float m_angularUpperLimit;
1130 float m_angularLowerLimit;
1131 int m_useLinearReferenceFrameA;
1132 int m_useOffsetForConstraintFrame;
1133 };
1134
1135 // -------------------------------------------------- //
1136 class btSliderConstraintDoubleData
1137 {
1138 public:
1139 btTypedConstraintDoubleData m_typeConstraintData;
1140 btTransformDoubleData m_rbAFrame;
1141 btTransformDoubleData m_rbBFrame;
1142 double m_linearUpperLimit;
1143 double m_linearLowerLimit;
1144 double m_angularUpperLimit;
1145 double m_angularLowerLimit;
1146 int m_useLinearReferenceFrameA;
1147 int m_useOffsetForConstraintFrame;
1148 };
1149
1150 // -------------------------------------------------- //
1151 class btGearConstraintFloatData
1152 {
1153 public:
1154 btTypedConstraintFloatData m_typeConstraintData;
1155 btVector3FloatData m_axisInA;
1156 btVector3FloatData m_axisInB;
1157 float m_ratio;
1158 char m_padding[4];
1159 };
1160
1161 // -------------------------------------------------- //
1162 class btGearConstraintDoubleData
1163 {
1164 public:
1165 btTypedConstraintDoubleData m_typeConstraintData;
1166 btVector3DoubleData m_axisInA;
1167 btVector3DoubleData m_axisInB;
1168 double m_ratio;
1169 };
1170
1171 // -------------------------------------------------- //
1172 class SoftBodyMaterialData
1173 {
1174 public:
1175 float m_linearStiffness;
1176 float m_angularStiffness;
1177 float m_volumeStiffness;
1178 int m_flags;
1179 };
1180
1181 // -------------------------------------------------- //
1182 class SoftBodyNodeData
1183 {
1184 public:
1185 SoftBodyMaterialData *m_material;
1186 btVector3FloatData m_position;
1187 btVector3FloatData m_previousPosition;
1188 btVector3FloatData m_velocity;
1189 btVector3FloatData m_accumulatedForce;
1190 btVector3FloatData m_normal;
1191 float m_inverseMass;
1192 float m_area;
1193 int m_attach;
1194 int m_pad;
1195 };
1196
1197 // -------------------------------------------------- //
1198 class SoftBodyLinkData
1199 {
1200 public:
1201 SoftBodyMaterialData *m_material;
1202 int m_nodeIndices[2];
1203 float m_restLength;
1204 int m_bbending;
1205 };
1206
1207 // -------------------------------------------------- //
1208 class SoftBodyFaceData
1209 {
1210 public:
1211 btVector3FloatData m_normal;
1212 SoftBodyMaterialData *m_material;
1213 int m_nodeIndices[3];
1214 float m_restArea;
1215 };
1216
1217 // -------------------------------------------------- //
1218 class SoftBodyTetraData
1219 {
1220 public:
1221 btVector3FloatData m_c0[4];
1222 SoftBodyMaterialData *m_material;
1223 int m_nodeIndices[4];
1224 float m_restVolume;
1225 float m_c1;
1226 float m_c2;
1227 int m_pad;
1228 };
1229
1230 // -------------------------------------------------- //
1231 class SoftRigidAnchorData
1232 {
1233 public:
1234 btMatrix3x3FloatData m_c0;
1235 btVector3FloatData m_c1;
1236 btVector3FloatData m_localFrame;
1237 bInvalidHandle *m_rigidBody;
1238 int m_nodeIndex;
1239 float m_c2;
1240 };
1241
1242 // -------------------------------------------------- //
1243 class SoftBodyConfigData
1244 {
1245 public:
1246 int m_aeroModel;
1247 float m_baumgarte;
1248 float m_damping;
1249 float m_drag;
1250 float m_lift;
1251 float m_pressure;
1252 float m_volume;
1253 float m_dynamicFriction;
1254 float m_poseMatch;
1255 float m_rigidContactHardness;
1256 float m_kineticContactHardness;
1257 float m_softContactHardness;
1258 float m_anchorHardness;
1259 float m_softRigidClusterHardness;
1260 float m_softKineticClusterHardness;
1261 float m_softSoftClusterHardness;
1262 float m_softRigidClusterImpulseSplit;
1263 float m_softKineticClusterImpulseSplit;
1264 float m_softSoftClusterImpulseSplit;
1265 float m_maxVolume;
1266 float m_timeScale;
1267 int m_velocityIterations;
1268 int m_positionIterations;
1269 int m_driftIterations;
1270 int m_clusterIterations;
1271 int m_collisionFlags;
1272 };
1273
1274 // -------------------------------------------------- //
1275 class SoftBodyPoseData
1276 {
1277 public:
1278 btMatrix3x3FloatData m_rot;
1279 btMatrix3x3FloatData m_scale;
1280 btMatrix3x3FloatData m_aqq;
1281 btVector3FloatData m_com;
1282 btVector3FloatData *m_positions;
1283 float *m_weights;
1284 int m_numPositions;
1285 int m_numWeigts;
1286 int m_bvolume;
1287 int m_bframe;
1288 float m_restVolume;
1289 int m_pad;
1290 };
1291
1292 // -------------------------------------------------- //
1293 class SoftBodyClusterData
1294 {
1295 public:
1296 btTransformFloatData m_framexform;
1297 btMatrix3x3FloatData m_locii;
1298 btMatrix3x3FloatData m_invwi;
1299 btVector3FloatData m_com;
1300 btVector3FloatData m_vimpulses[2];
1301 btVector3FloatData m_dimpulses[2];
1302 btVector3FloatData m_lv;
1303 btVector3FloatData m_av;
1304 btVector3FloatData *m_framerefs;
1305 int *m_nodeIndices;
1306 float *m_masses;
1307 int m_numFrameRefs;
1308 int m_numNodes;
1309 int m_numMasses;
1310 float m_idmass;
1311 float m_imass;
1312 int m_nvimpulses;
1313 int m_ndimpulses;
1314 float m_ndamping;
1315 float m_ldamping;
1316 float m_adamping;
1317 float m_matching;
1318 float m_maxSelfCollisionImpulse;
1319 float m_selfCollisionImpulseFactor;
1320 int m_containsAnchor;
1321 int m_collide;
1322 int m_clusterIndex;
1323 };
1324
1325 // -------------------------------------------------- //
1326 class btSoftBodyJointData
1327 {
1328 public:
1329 void *m_bodyA;
1330 void *m_bodyB;
1331 btVector3FloatData m_refs[2];
1332 float m_cfm;
1333 float m_erp;
1334 float m_split;
1335 int m_delete;
1336 btVector3FloatData m_relPosition[2];
1337 int m_bodyAtype;
1338 int m_bodyBtype;
1339 int m_jointType;
1340 int m_pad;
1341 };
1342
1343 // -------------------------------------------------- //
1344 class btSoftBodyFloatData
1345 {
1346 public:
1347 btCollisionObjectFloatData m_collisionObjectData;
1348 SoftBodyPoseData *m_pose;
1349 SoftBodyMaterialData **m_materials;
1350 SoftBodyNodeData *m_nodes;
1351 SoftBodyLinkData *m_links;
1352 SoftBodyFaceData *m_faces;
1353 SoftBodyTetraData *m_tetrahedra;
1354 SoftRigidAnchorData *m_anchors;
1355 SoftBodyClusterData *m_clusters;
1356 btSoftBodyJointData *m_joints;
1357 int m_numMaterials;
1358 int m_numNodes;
1359 int m_numLinks;
1360 int m_numFaces;
1361 int m_numTetrahedra;
1362 int m_numAnchors;
1363 int m_numClusters;
1364 int m_numJoints;
1365 SoftBodyConfigData m_config;
1366 };
1367
1368 // -------------------------------------------------- //
1369 class btMultiBodyLinkDoubleData
1370 {
1371 public:
1372 btQuaternionDoubleData m_zeroRotParentToThis;
1373 btVector3DoubleData m_parentComToThisPivotOffset;
1374 btVector3DoubleData m_thisPivotToThisComOffset;
1375 btVector3DoubleData m_jointAxisTop[6];
1376 btVector3DoubleData m_jointAxisBottom[6];
1377 btVector3DoubleData m_linkInertia;
1378 btVector3DoubleData m_absFrameTotVelocityTop;
1379 btVector3DoubleData m_absFrameTotVelocityBottom;
1380 btVector3DoubleData m_absFrameLocVelocityTop;
1381 btVector3DoubleData m_absFrameLocVelocityBottom;
1382 double m_linkMass;
1383 int m_parentIndex;
1384 int m_jointType;
1385 int m_dofCount;
1386 int m_posVarCount;
1387 double m_jointPos[7];
1388 double m_jointVel[6];
1389 double m_jointTorque[6];
1390 double m_jointDamping;
1391 double m_jointFriction;
1392 double m_jointLowerLimit;
1393 double m_jointUpperLimit;
1394 double m_jointMaxForce;
1395 double m_jointMaxVelocity;
1396 char *m_linkName;
1397 char *m_jointName;
1398 btCollisionObjectDoubleData *m_linkCollider;
1399 char *m_paddingPtr;
1400 };
1401
1402 // -------------------------------------------------- //
1403 class btMultiBodyLinkFloatData
1404 {
1405 public:
1406 btQuaternionFloatData m_zeroRotParentToThis;
1407 btVector3FloatData m_parentComToThisPivotOffset;
1408 btVector3FloatData m_thisPivotToThisComOffset;
1409 btVector3FloatData m_jointAxisTop[6];
1410 btVector3FloatData m_jointAxisBottom[6];
1411 btVector3FloatData m_linkInertia;
1412 btVector3FloatData m_absFrameTotVelocityTop;
1413 btVector3FloatData m_absFrameTotVelocityBottom;
1414 btVector3FloatData m_absFrameLocVelocityTop;
1415 btVector3FloatData m_absFrameLocVelocityBottom;
1416 int m_dofCount;
1417 float m_linkMass;
1418 int m_parentIndex;
1419 int m_jointType;
1420 float m_jointPos[7];
1421 float m_jointVel[6];
1422 float m_jointTorque[6];
1423 int m_posVarCount;
1424 float m_jointDamping;
1425 float m_jointFriction;
1426 float m_jointLowerLimit;
1427 float m_jointUpperLimit;
1428 float m_jointMaxForce;
1429 float m_jointMaxVelocity;
1430 char *m_linkName;
1431 char *m_jointName;
1432 btCollisionObjectFloatData *m_linkCollider;
1433 char *m_paddingPtr;
1434 };
1435
1436 // -------------------------------------------------- //
1437 class btMultiBodyDoubleData
1438 {
1439 public:
1440 btVector3DoubleData m_baseWorldPosition;
1441 btQuaternionDoubleData m_baseWorldOrientation;
1442 btVector3DoubleData m_baseLinearVelocity;
1443 btVector3DoubleData m_baseAngularVelocity;
1444 btVector3DoubleData m_baseInertia;
1445 double m_baseMass;
1446 int m_numLinks;
1447 char m_padding[4];
1448 char *m_baseName;
1449 btMultiBodyLinkDoubleData *m_links;
1450 btCollisionObjectDoubleData *m_baseCollider;
1451 };
1452
1453 // -------------------------------------------------- //
1454 class btMultiBodyFloatData
1455 {
1456 public:
1457 btVector3FloatData m_baseWorldPosition;
1458 btQuaternionFloatData m_baseWorldOrientation;
1459 btVector3FloatData m_baseLinearVelocity;
1460 btVector3FloatData m_baseAngularVelocity;
1461 btVector3FloatData m_baseInertia;
1462 float m_baseMass;
1463 int m_numLinks;
1464 char *m_baseName;
1465 btMultiBodyLinkFloatData *m_links;
1466 btCollisionObjectFloatData *m_baseCollider;
1467 };
1468
1469 // -------------------------------------------------- //
1470 class btMultiBodyLinkColliderFloatData
1471 {
1472 public:
1473 btCollisionObjectFloatData m_colObjData;
1474 btMultiBodyFloatData *m_multiBody;
1475 int m_link;
1476 char m_padding[4];
1477 };
1478
1479 // -------------------------------------------------- //
1480 class btMultiBodyLinkColliderDoubleData
1481 {
1482 public:
1483 btCollisionObjectDoubleData m_colObjData;
1484 btMultiBodyDoubleData *m_multiBody;
1485 int m_link;
1486 char m_padding[4];
1487 };
1488
1489 } // namespace Bullet
1490 #endif //__BULLET_H__
Bullet::btGearConstraintDoubleData::m_axisInA
btVector3DoubleData m_axisInA
Definition: bullet.h:1166
Bullet::btCollisionObjectFloatData::m_broadphaseHandle
void * m_broadphaseHandle
Definition: bullet.h:632
Bullet::btOptimizedBvhNodeFloatData::m_pad
char m_pad[4]
Definition: bullet.h:221
Bullet::btBvhSubtreeInfoData::m_quantizedAabbMax
short m_quantizedAabbMax[3]
Definition: bullet.h:209
Bullet::SoftBodyClusterData::m_framexform
btTransformFloatData m_framexform
Definition: bullet.h:1296
Bullet::btMeshPartData::m_3indices8
btCharIndexTripletData * m_3indices8
Definition: bullet.h:369
Bullet::btPersistentManifoldDoubleData::m_body0
btCollisionObjectDoubleData * m_body0
Definition: bullet.h:523
Bullet::btRigidBodyDoubleData::m_invInertiaLocal
btVector3DoubleData m_invInertiaLocal
Definition: bullet.h:774
Bullet::btTriangleMeshShapeData
Definition: bullet.h:386
Bullet::btTypedConstraintData::m_appliedImpulse
float m_appliedImpulse
Definition: bullet.h:828
Bullet::btConeTwistConstraintData::m_swingSpan1
float m_swingSpan1
Definition: bullet.h:964
Bullet::btHingeConstraintDoubleData2::m_rbAFrame
btTransformDoubleData m_rbAFrame
Definition: bullet.h:926
Bullet::btGImpactMeshShapeData::m_collisionMargin
float m_collisionMargin
Definition: bullet.h:578
Bullet::btCollisionObjectFloatData::m_hitFraction
float m_hitFraction
Definition: bullet.h:648
Bullet::SoftBodyClusterData::m_adamping
float m_adamping
Definition: bullet.h:1316
Bullet::btOptimizedBvhNodeFloatData::m_aabbMinOrg
btVector3FloatData m_aabbMinOrg
Definition: bullet.h:216
Bullet::btCollisionObjectDoubleData::m_interpolationWorldTransform
btTransformDoubleData m_interpolationWorldTransform
Definition: bullet.h:602
Bullet::btMultiBodyLinkFloatData::m_jointDamping
float m_jointDamping
Definition: bullet.h:1424
Bullet::btQuantizedBvhDoubleData::m_curNodeIndex
int m_curNodeIndex
Definition: bullet.h:270
Bullet::btRigidBodyFloatData::m_angularSleepingThreshold
float m_angularSleepingThreshold
Definition: bullet.h:758
Bullet::btRigidBodyFloatData::m_additionalLinearDampingThresholdSqr
float m_additionalLinearDampingThresholdSqr
Definition: bullet.h:754
Bullet::btHingeConstraintFloatData::m_enableAngularMotor
int m_enableAngularMotor
Definition: bullet.h:911
Bullet::SoftBodyConfigData::m_volume
float m_volume
Definition: bullet.h:1252
Bullet::btQuantizedBvhFloatData::m_bvhAabbMax
btVector3FloatData m_bvhAabbMax
Definition: bullet.h:250
Bullet::btConstraintInfo1::m_numConstraintRows
int m_numConstraintRows
Definition: bullet.h:794
Bullet::btSoftBodyJointData::m_erp
float m_erp
Definition: bullet.h:1333
Bullet::btQuantizedBvhDoubleData
Definition: bullet.h:264
Bullet::btSoftBodyJointData::m_bodyB
void * m_bodyB
Definition: bullet.h:1330
Bullet::btTypedConstraintDoubleData::m_overrideNumSolverIterations
int m_overrideNumSolverIterations
Definition: bullet.h:850
Bullet::btTypedConstraintDoubleData::m_objectType
int m_objectType
Definition: bullet.h:843
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