libbullet-extras-dev 2.87+dfsg-2 / usr / include / bullet / Bullet2FileLoader / autogenerated / bullet2.h

/* Copyright (C) 2011 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied
* warranty.  In no event will the authors be held liable for any damages
* arising from the use of this software.
*
* Permission is granted to anyone to use this software for any purpose,
* including commercial applications, and to alter it and redistribute it
* freely, subject to the following restrictions:
*
* 1. The origin of this software must not be misrepresented; you must not
*    claim that you wrote the original software. If you use this software
*    in a product, an acknowledgment in the product documentation would be
*    appreciated but is not required.
* 2. Altered source versions must be plainly marked as such, and must not be
*    misrepresented as being the original software.
* 3. This notice may not be removed or altered from any source distribution.
*/
// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
#ifndef __BULLET2_H__
#define __BULLET2_H__
namespace Bullet3SerializeBullet2 {

// put an empty struct in the case
typedef struct bInvalidHandle {
	int unused;
}bInvalidHandle;

    class PointerArray;
    class b3PhysicsSystem;
    class ListBase;
    class b3Vector3FloatData;
    class b3Vector3DoubleData;
    class b3Matrix3x3FloatData;
    class b3Matrix3x3DoubleData;
    class b3TransformFloatData;
    class b3TransformDoubleData;
    class b3BvhSubtreeInfoData;
    class b3OptimizedBvhNodeFloatData;
    class b3OptimizedBvhNodeDoubleData;
    class b3QuantizedBvhNodeData;
    class b3QuantizedBvhFloatData;
    class b3QuantizedBvhDoubleData;
    class b3CollisionShapeData;
    class b3StaticPlaneShapeData;
    class b3ConvexInternalShapeData;
    class b3PositionAndRadius;
    class b3MultiSphereShapeData;
    class b3IntIndexData;
    class b3ShortIntIndexData;
    class b3ShortIntIndexTripletData;
    class b3CharIndexTripletData;
    class b3MeshPartData;
    class b3StridingMeshInterfaceData;
    class b3TriangleMeshShapeData;
    class b3ScaledTriangleMeshShapeData;
    class b3CompoundShapeChildData;
    class b3CompoundShapeData;
    class b3CylinderShapeData;
    class b3CapsuleShapeData;
    class b3TriangleInfoData;
    class b3TriangleInfoMapData;
    class b3GImpactMeshShapeData;
    class b3ConvexHullShapeData;
    class b3CollisionObjectDoubleData;
    class b3CollisionObjectFloatData;
    class b3DynamicsWorldDoubleData;
    class b3DynamicsWorldFloatData;
    class b3RigidBodyFloatData;
    class b3RigidBodyDoubleData;
    class b3ConstraintInfo1;
    class b3TypedConstraintData;
    class b3Point2PointConstraintFloatData;
    class b3Point2PointConstraintDoubleData;
    class b3HingeConstraintDoubleData;
    class b3HingeConstraintFloatData;
    class b3ConeTwistConstraintData;
    class b3Generic6DofConstraintData;
    class b3Generic6DofSpringConstraintData;
    class b3SliderConstraintData;
    class b3ContactSolverInfoDoubleData;
    class b3ContactSolverInfoFloatData;
    class SoftBodyMaterialData;
    class SoftBodyNodeData;
    class SoftBodyLinkData;
    class SoftBodyFaceData;
    class SoftBodyTetraData;
    class SoftRigidAnchorData;
    class SoftBodyConfigData;
    class SoftBodyPoseData;
    class SoftBodyClusterData;
    class b3SoftBodyJointData;
    class b3SoftBodyFloatData;
// -------------------------------------------------- //
    class PointerArray
    {
    public:
        int m_size;
        int m_capacity;
        void *m_data;
    };


// -------------------------------------------------- //
    class b3PhysicsSystem
    {
    public:
        PointerArray m_collisionShapes;
        PointerArray m_collisionObjects;
        PointerArray m_constraints;
    };


// -------------------------------------------------- //
    class ListBase
    {
    public:
        void *first;
        void *last;
    };


// -------------------------------------------------- //
    class b3Vector3FloatData
    {
    public:
        float m_floats[4];
    };


// -------------------------------------------------- //
    class b3Vector3DoubleData
    {
    public:
        double m_floats[4];
    };


// -------------------------------------------------- //
    class b3Matrix3x3FloatData
    {
    public:
        b3Vector3FloatData m_el[3];
    };


// -------------------------------------------------- //
    class b3Matrix3x3DoubleData
    {
    public:
        b3Vector3DoubleData m_el[3];
    };


// -------------------------------------------------- //
    class b3TransformFloatData
    {
    public:
        b3Matrix3x3FloatData m_basis;
        b3Vector3FloatData m_origin;
    };


// -------------------------------------------------- //
    class b3TransformDoubleData
    {
    public:
        b3Matrix3x3DoubleData m_basis;
        b3Vector3DoubleData m_origin;
    };


// -------------------------------------------------- //
    class b3BvhSubtreeInfoData
    {
    public:
        int m_rootNodeIndex;
        int m_subtreeSize;
        short m_quantizedAabbMin[3];
        short m_quantizedAabbMax[3];
    };


// -------------------------------------------------- //
    class b3OptimizedBvhNodeFloatData
    {
    public:
        b3Vector3FloatData m_aabbMinOrg;
        b3Vector3FloatData m_aabbMaxOrg;
        int m_escapeIndex;
        int m_subPart;
        int m_triangleIndex;
        char m_pad[4];
    };


// -------------------------------------------------- //
    class b3OptimizedBvhNodeDoubleData
    {
    public:
        b3Vector3DoubleData m_aabbMinOrg;
        b3Vector3DoubleData m_aabbMaxOrg;
        int m_escapeIndex;
        int m_subPart;
        int m_triangleIndex;
        char m_pad[4];
    };


// -------------------------------------------------- //
    class b3QuantizedBvhNodeData
    {
    public:
        short m_quantizedAabbMin[3];
        short m_quantizedAabbMax[3];
        int m_escapeIndexOrTriangleIndex;
    };


// -------------------------------------------------- //
    class b3QuantizedBvhFloatData
    {
    public:
        b3Vector3FloatData m_bvhAabbMin;
        b3Vector3FloatData m_bvhAabbMax;
        b3Vector3FloatData m_bvhQuantization;
        int m_curNodeIndex;
        int m_useQuantization;
        int m_numContiguousLeafNodes;
        int m_numQuantizedContiguousNodes;
        b3OptimizedBvhNodeFloatData *m_contiguousNodesPtr;
        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
        int m_traversalMode;
        int m_numSubtreeHeaders;
    };


// -------------------------------------------------- //
    class b3QuantizedBvhDoubleData
    {
    public:
        b3Vector3DoubleData m_bvhAabbMin;
        b3Vector3DoubleData m_bvhAabbMax;
        b3Vector3DoubleData m_bvhQuantization;
        int m_curNodeIndex;
        int m_useQuantization;
        int m_numContiguousLeafNodes;
        int m_numQuantizedContiguousNodes;
        b3OptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
        b3QuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
        int m_traversalMode;
        int m_numSubtreeHeaders;
        b3BvhSubtreeInfoData *m_subTreeInfoPtr;
    };


// -------------------------------------------------- //
    class b3CollisionShapeData
    {
    public:
        char *m_name;
        int m_shapeType;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3StaticPlaneShapeData
    {
    public:
        b3CollisionShapeData m_collisionShapeData;
        b3Vector3FloatData m_localScaling;
        b3Vector3FloatData m_planeNormal;
        float m_planeConstant;
        char m_pad[4];
    };


// -------------------------------------------------- //
    class b3ConvexInternalShapeData
    {
    public:
        b3CollisionShapeData m_collisionShapeData;
        b3Vector3FloatData m_localScaling;
        b3Vector3FloatData m_implicitShapeDimensions;
        float m_collisionMargin;
        int m_padding;
    };


// -------------------------------------------------- //
    class b3PositionAndRadius
    {
    public:
        b3Vector3FloatData m_pos;
        float m_radius;
    };


// -------------------------------------------------- //
    class b3MultiSphereShapeData
    {
    public:
        b3ConvexInternalShapeData m_convexInternalShapeData;
        b3PositionAndRadius *m_localPositionArrayPtr;
        int m_localPositionArraySize;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3IntIndexData
    {
    public:
        int m_value;
    };


// -------------------------------------------------- //
    class b3ShortIntIndexData
    {
    public:
        short m_value;
        char m_pad[2];
    };


// -------------------------------------------------- //
    class b3ShortIntIndexTripletData
    {
    public:
        short m_values[3];
        char m_pad[2];
    };


// -------------------------------------------------- //
    class b3CharIndexTripletData
    {
    public:
        char m_values[3];
        char m_pad;
    };


// -------------------------------------------------- //
    class b3MeshPartData
    {
    public:
        b3Vector3FloatData *m_vertices3f;
        b3Vector3DoubleData *m_vertices3d;
        b3IntIndexData *m_indices32;
        b3ShortIntIndexTripletData *m_3indices16;
        b3CharIndexTripletData *m_3indices8;
        b3ShortIntIndexData *m_indices16;
        int m_numTriangles;
        int m_numVertices;
    };


// -------------------------------------------------- //
    class b3StridingMeshInterfaceData
    {
    public:
        b3MeshPartData *m_meshPartsPtr;
        b3Vector3FloatData m_scaling;
        int m_numMeshParts;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3TriangleMeshShapeData
    {
    public:
        b3CollisionShapeData m_collisionShapeData;
        b3StridingMeshInterfaceData m_meshInterface;
        b3QuantizedBvhFloatData *m_quantizedFloatBvh;
        b3QuantizedBvhDoubleData *m_quantizedDoubleBvh;
        b3TriangleInfoMapData *m_triangleInfoMap;
        float m_collisionMargin;
        char m_pad3[4];
    };


// -------------------------------------------------- //
    class b3ScaledTriangleMeshShapeData
    {
    public:
        b3TriangleMeshShapeData m_trimeshShapeData;
        b3Vector3FloatData m_localScaling;
    };


// -------------------------------------------------- //
    class b3CompoundShapeChildData
    {
    public:
        b3TransformFloatData m_transform;
        b3CollisionShapeData *m_childShape;
        int m_childShapeType;
        float m_childMargin;
    };


// -------------------------------------------------- //
    class b3CompoundShapeData
    {
    public:
        b3CollisionShapeData m_collisionShapeData;
        b3CompoundShapeChildData *m_childShapePtr;
        int m_numChildShapes;
        float m_collisionMargin;
    };


// -------------------------------------------------- //
    class b3CylinderShapeData
    {
    public:
        b3ConvexInternalShapeData m_convexInternalShapeData;
        int m_upAxis;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3CapsuleShapeData
    {
    public:
        b3ConvexInternalShapeData m_convexInternalShapeData;
        int m_upAxis;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3TriangleInfoData
    {
    public:
        int m_flags;
        float m_edgeV0V1Angle;
        float m_edgeV1V2Angle;
        float m_edgeV2V0Angle;
    };


// -------------------------------------------------- //
    class b3TriangleInfoMapData
    {
    public:
        int *m_hashTablePtr;
        int *m_nextPtr;
        b3TriangleInfoData *m_valueArrayPtr;
        int *m_keyArrayPtr;
        float m_convexEpsilon;
        float m_planarEpsilon;
        float m_equalVertexThreshold;
        float m_edgeDistanceThreshold;
        float m_zeroAreaThreshold;
        int m_nextSize;
        int m_hashTableSize;
        int m_numValues;
        int m_numKeys;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3GImpactMeshShapeData
    {
    public:
        b3CollisionShapeData m_collisionShapeData;
        b3StridingMeshInterfaceData m_meshInterface;
        b3Vector3FloatData m_localScaling;
        float m_collisionMargin;
        int m_gimpactSubType;
    };


// -------------------------------------------------- //
    class b3ConvexHullShapeData
    {
    public:
        b3ConvexInternalShapeData m_convexInternalShapeData;
        b3Vector3FloatData *m_unscaledPointsFloatPtr;
        b3Vector3DoubleData *m_unscaledPointsDoublePtr;
        int m_numUnscaledPoints;
        char m_padding3[4];
    };


// -------------------------------------------------- //
    class b3CollisionObjectDoubleData
    {
    public:
        void *m_broadphaseHandle;
        void *m_collisionShape;
        b3CollisionShapeData *m_rootCollisionShape;
        char *m_name;
        b3TransformDoubleData m_worldTransform;
        b3TransformDoubleData m_interpolationWorldTransform;
        b3Vector3DoubleData m_interpolationLinearVelocity;
        b3Vector3DoubleData m_interpolationAngularVelocity;
        b3Vector3DoubleData m_anisotropicFriction;
        double m_contactProcessingThreshold;
        double m_deactivationTime;
        double m_friction;
        double m_rollingFriction;
        double m_restitution;
        double m_hitFraction;
        double m_ccdSweptSphereRadius;
        double m_ccdMotionThreshold;
        int m_hasAnisotropicFriction;
        int m_collisionFlags;
        int m_islandTag1;
        int m_companionId;
        int m_activationState1;
        int m_internalType;
        int m_checkCollideWith;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3CollisionObjectFloatData
    {
    public:
        void *m_broadphaseHandle;
        void *m_collisionShape;
        b3CollisionShapeData *m_rootCollisionShape;
        char *m_name;
        b3TransformFloatData m_worldTransform;
        b3TransformFloatData m_interpolationWorldTransform;
        b3Vector3FloatData m_interpolationLinearVelocity;
        b3Vector3FloatData m_interpolationAngularVelocity;
        b3Vector3FloatData m_anisotropicFriction;
        float m_contactProcessingThreshold;
        float m_deactivationTime;
        float m_friction;
        float m_rollingFriction;
        float m_restitution;
        float m_hitFraction;
        float m_ccdSweptSphereRadius;
        float m_ccdMotionThreshold;
        int m_hasAnisotropicFriction;
        int m_collisionFlags;
        int m_islandTag1;
        int m_companionId;
        int m_activationState1;
        int m_internalType;
        int m_checkCollideWith;
        char m_padding[4];
    };



// -------------------------------------------------- //
    class b3RigidBodyFloatData
    {
    public:
        b3CollisionObjectFloatData m_collisionObjectData;
        b3Matrix3x3FloatData m_invInertiaTensorWorld;
        b3Vector3FloatData m_linearVelocity;
        b3Vector3FloatData m_angularVelocity;
        b3Vector3FloatData m_angularFactor;
        b3Vector3FloatData m_linearFactor;
        b3Vector3FloatData m_gravity;
        b3Vector3FloatData m_gravity_acceleration;
        b3Vector3FloatData m_invInertiaLocal;
        b3Vector3FloatData m_totalForce;
        b3Vector3FloatData m_totalTorque;
        float m_inverseMass;
        float m_linearDamping;
        float m_angularDamping;
        float m_additionalDampingFactor;
        float m_additionalLinearDampingThresholdSqr;
        float m_additionalAngularDampingThresholdSqr;
        float m_additionalAngularDampingFactor;
        float m_linearSleepingThreshold;
        float m_angularSleepingThreshold;
        int m_additionalDamping;
    };


// -------------------------------------------------- //
    class b3RigidBodyDoubleData
    {
    public:
        b3CollisionObjectDoubleData m_collisionObjectData;
        b3Matrix3x3DoubleData m_invInertiaTensorWorld;
        b3Vector3DoubleData m_linearVelocity;
        b3Vector3DoubleData m_angularVelocity;
        b3Vector3DoubleData m_angularFactor;
        b3Vector3DoubleData m_linearFactor;
        b3Vector3DoubleData m_gravity;
        b3Vector3DoubleData m_gravity_acceleration;
        b3Vector3DoubleData m_invInertiaLocal;
        b3Vector3DoubleData m_totalForce;
        b3Vector3DoubleData m_totalTorque;
        double m_inverseMass;
        double m_linearDamping;
        double m_angularDamping;
        double m_additionalDampingFactor;
        double m_additionalLinearDampingThresholdSqr;
        double m_additionalAngularDampingThresholdSqr;
        double m_additionalAngularDampingFactor;
        double m_linearSleepingThreshold;
        double m_angularSleepingThreshold;
        int m_additionalDamping;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3ConstraintInfo1
    {
    public:
        int m_numConstraintRows;
        int nub;
    };


// -------------------------------------------------- //
    class b3TypedConstraintData
    {
    public:
        bInvalidHandle *m_rbA;
        bInvalidHandle *m_rbB;
        char *m_name;
        int m_objectType;
        int m_userConstraintType;
        int m_userConstraintId;
        int m_needsFeedback;
        float m_appliedImpulse;
        float m_dbgDrawSize;
        int m_disableCollisionsBetweenLinkedBodies;
        int m_overrideNumSolverIterations;
        float m_breakingImpulseThreshold;
        int m_isEnabled;
    };


// -------------------------------------------------- //
    class b3Point2PointConstraintFloatData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3Vector3FloatData m_pivotInA;
        b3Vector3FloatData m_pivotInB;
    };


// -------------------------------------------------- //
    class b3Point2PointConstraintDoubleData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3Vector3DoubleData m_pivotInA;
        b3Vector3DoubleData m_pivotInB;
    };


// -------------------------------------------------- //
    class b3HingeConstraintDoubleData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3TransformDoubleData m_rbAFrame;
        b3TransformDoubleData m_rbBFrame;
        int m_useReferenceFrameA;
        int m_angularOnly;
        int m_enableAngularMotor;
        float m_motorTargetVelocity;
        float m_maxMotorImpulse;
        float m_lowerLimit;
        float m_upperLimit;
        float m_limitSoftness;
        float m_biasFactor;
        float m_relaxationFactor;
    };


// -------------------------------------------------- //
    class b3HingeConstraintFloatData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3TransformFloatData m_rbAFrame;
        b3TransformFloatData m_rbBFrame;
        int m_useReferenceFrameA;
        int m_angularOnly;
        int m_enableAngularMotor;
        float m_motorTargetVelocity;
        float m_maxMotorImpulse;
        float m_lowerLimit;
        float m_upperLimit;
        float m_limitSoftness;
        float m_biasFactor;
        float m_relaxationFactor;
    };


// -------------------------------------------------- //
    class b3ConeTwistConstraintData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3TransformFloatData m_rbAFrame;
        b3TransformFloatData m_rbBFrame;
        float m_swingSpan1;
        float m_swingSpan2;
        float m_twistSpan;
        float m_limitSoftness;
        float m_biasFactor;
        float m_relaxationFactor;
        float m_damping;
        char m_pad[4];
    };


// -------------------------------------------------- //
    class b3Generic6DofConstraintData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3TransformFloatData m_rbAFrame;
        b3TransformFloatData m_rbBFrame;
        b3Vector3FloatData m_linearUpperLimit;
        b3Vector3FloatData m_linearLowerLimit;
        b3Vector3FloatData m_angularUpperLimit;
        b3Vector3FloatData m_angularLowerLimit;
        int m_useLinearReferenceFrameA;
        int m_useOffsetForConstraintFrame;
    };


// -------------------------------------------------- //
    class b3Generic6DofSpringConstraintData
    {
    public:
        b3Generic6DofConstraintData m_6dofData;
        int m_springEnabled[6];
        float m_equilibriumPoint[6];
        float m_springStiffness[6];
        float m_springDamping[6];
    };


// -------------------------------------------------- //
    class b3SliderConstraintData
    {
    public:
        b3TypedConstraintData m_typeConstraintData;
        b3TransformFloatData m_rbAFrame;
        b3TransformFloatData m_rbBFrame;
        float m_linearUpperLimit;
        float m_linearLowerLimit;
        float m_angularUpperLimit;
        float m_angularLowerLimit;
        int m_useLinearReferenceFrameA;
        int m_useOffsetForConstraintFrame;
    };


// -------------------------------------------------- //
    class b3ContactSolverInfoDoubleData
    {
    public:
        double m_tau;
        double m_damping;
        double m_friction;
        double m_timeStep;
        double m_restitution;
        double m_maxErrorReduction;
        double m_sor;
        double m_erp;
        double m_erp2;
        double m_globalCfm;
        double m_splitImpulsePenetrationThreshold;
        double m_splitImpulseTurnErp;
        double m_linearSlop;
        double m_warmstartingFactor;
        double m_maxGyroscopicForce;
        double m_singleAxisRollingFrictionThreshold;
        int m_numIterations;
        int m_solverMode;
        int m_restingContactRestitutionThreshold;
        int m_minimumSolverBatchSize;
        int m_splitImpulse;
        char m_padding[4];
    };


// -------------------------------------------------- //
    class b3ContactSolverInfoFloatData
    {
    public:
        float m_tau;
        float m_damping;
        float m_friction;
        float m_timeStep;
        float m_restitution;
        float m_maxErrorReduction;
        float m_sor;
        float m_erp;
        float m_erp2;
        float m_globalCfm;
        float m_splitImpulsePenetrationThreshold;
        float m_splitImpulseTurnErp;
        float m_linearSlop;
        float m_warmstartingFactor;
        float m_maxGyroscopicForce;
        float m_singleAxisRollingFrictionThreshold;
        int m_numIterations;
        int m_solverMode;
        int m_restingContactRestitutionThreshold;
        int m_minimumSolverBatchSize;
        int m_splitImpulse;
        char m_padding[4];
    };


	// -------------------------------------------------- //
    class b3DynamicsWorldDoubleData
    {
    public:
        b3ContactSolverInfoDoubleData m_solverInfo;
        b3Vector3DoubleData m_gravity;
    };


// -------------------------------------------------- //
    class b3DynamicsWorldFloatData
    {
    public:
        b3ContactSolverInfoFloatData m_solverInfo;
        b3Vector3FloatData m_gravity;
    };



// -------------------------------------------------- //
    class SoftBodyMaterialData
    {
    public:
        float m_linearStiffness;
        float m_angularStiffness;
        float m_volumeStiffness;
        int m_flags;
    };


// -------------------------------------------------- //
    class SoftBodyNodeData
    {
    public:
        SoftBodyMaterialData *m_material;
        b3Vector3FloatData m_position;
        b3Vector3FloatData m_previousPosition;
        b3Vector3FloatData m_velocity;
        b3Vector3FloatData m_accumulatedForce;
        b3Vector3FloatData m_normal;
        float m_inverseMass;
        float m_area;
        int m_attach;
        int m_pad;
    };


// -------------------------------------------------- //
    class SoftBodyLinkData
    {
    public:
        SoftBodyMaterialData *m_material;
        int m_nodeIndices[2];
        float m_restLength;
        int m_bbending;
    };


// -------------------------------------------------- //
    class SoftBodyFaceData
    {
    public:
        b3Vector3FloatData m_normal;
        SoftBodyMaterialData *m_material;
        int m_nodeIndices[3];
        float m_restArea;
    };


// -------------------------------------------------- //
    class SoftBodyTetraData
    {
    public:
        b3Vector3FloatData m_c0[4];
        SoftBodyMaterialData *m_material;
        int m_nodeIndices[4];
        float m_restVolume;
        float m_c1;
        float m_c2;
        int m_pad;
    };


// -------------------------------------------------- //
    class SoftRigidAnchorData
    {
    public:
        b3Matrix3x3FloatData m_c0;
        b3Vector3FloatData m_c1;
        b3Vector3FloatData m_localFrame;
        bInvalidHandle *m_rigidBody;
        int m_nodeIndex;
        float m_c2;
    };


// -------------------------------------------------- //
    class SoftBodyConfigData
    {
    public:
        int m_aeroModel;
        float m_baumgarte;
        float m_damping;
        float m_drag;
        float m_lift;
        float m_pressure;
        float m_volume;
        float m_dynamicFriction;
        float m_poseMatch;
        float m_rigidContactHardness;
        float m_kineticContactHardness;
        float m_softContactHardness;
        float m_anchorHardness;
        float m_softRigidClusterHardness;
        float m_softKineticClusterHardness;
        float m_softSoftClusterHardness;
        float m_softRigidClusterImpulseSplit;
        float m_softKineticClusterImpulseSplit;
        float m_softSoftClusterImpulseSplit;
        float m_maxVolume;
        float m_timeScale;
        int m_velocityIterations;
        int m_positionIterations;
        int m_driftIterations;
        int m_clusterIterations;
        int m_collisionFlags;
    };


// -------------------------------------------------- //
    class SoftBodyPoseData
    {
    public:
        b3Matrix3x3FloatData m_rot;
        b3Matrix3x3FloatData m_scale;
        b3Matrix3x3FloatData m_aqq;
        b3Vector3FloatData m_com;
        b3Vector3FloatData *m_positions;
        float *m_weights;
        int m_numPositions;
        int m_numWeigts;
        int m_bvolume;
        int m_bframe;
        float m_restVolume;
        int m_pad;
    };


// -------------------------------------------------- //
    class SoftBodyClusterData
    {
    public:
        b3TransformFloatData m_framexform;
        b3Matrix3x3FloatData m_locii;
        b3Matrix3x3FloatData m_invwi;
        b3Vector3FloatData m_com;
        b3Vector3FloatData m_vimpulses[2];
        b3Vector3FloatData m_dimpulses[2];
        b3Vector3FloatData m_lv;
        b3Vector3FloatData m_av;
        b3Vector3FloatData *m_framerefs;
        int *m_nodeIndices;
        float *m_masses;
        int m_numFrameRefs;
        int m_numNodes;
        int m_numMasses;
        float m_idmass;
        float m_imass;
        int m_nvimpulses;
        int m_ndimpulses;
        float m_ndamping;
        float m_ldamping;
        float m_adamping;
        float m_matching;
        float m_maxSelfCollisionImpulse;
        float m_selfCollisionImpulseFactor;
        int m_containsAnchor;
        int m_collide;
        int m_clusterIndex;
    };


// -------------------------------------------------- //
    class b3SoftBodyJointData
    {
    public:
        void *m_bodyA;
        void *m_bodyB;
        b3Vector3FloatData m_refs[2];
        float m_cfm;
        float m_erp;
        float m_split;
        int m_delete;
        b3Vector3FloatData m_relPosition[2];
        int m_bodyAtype;
        int m_bodyBtype;
        int m_jointType;
        int m_pad;
    };


// -------------------------------------------------- //
    class b3SoftBodyFloatData
    {
    public:
        b3CollisionObjectFloatData m_collisionObjectData;
        SoftBodyPoseData *m_pose;
        SoftBodyMaterialData **m_materials;
        SoftBodyNodeData *m_nodes;
        SoftBodyLinkData *m_links;
        SoftBodyFaceData *m_faces;
        SoftBodyTetraData *m_tetrahedra;
        SoftRigidAnchorData *m_anchors;
        SoftBodyClusterData *m_clusters;
        b3SoftBodyJointData *m_joints;
        int m_numMaterials;
        int m_numNodes;
        int m_numLinks;
        int m_numFaces;
        int m_numTetrahedra;
        int m_numAnchors;
        int m_numClusters;
        int m_numJoints;
        SoftBodyConfigData m_config;
    };


}
#endif//__BULLET2_H__