libbullet-dev 2.83.6+dfsg-3 / usr / include / bullet / BulletSoftBody / btSoftBodyData.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

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.
*/

#ifndef BT_SOFTBODY_FLOAT_DATA
#define BT_SOFTBODY_FLOAT_DATA

#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"


struct	SoftBodyMaterialData
{
	float	m_linearStiffness;
	float	m_angularStiffness;
	float	m_volumeStiffness;
	int		m_flags;
};

struct	SoftBodyNodeData
{
	SoftBodyMaterialData		*m_material;
	btVector3FloatData			m_position;
	btVector3FloatData			m_previousPosition;
	btVector3FloatData			m_velocity;
	btVector3FloatData			m_accumulatedForce;
	btVector3FloatData			m_normal;
	float						m_inverseMass;
	float						m_area;
	int							m_attach;
	int							m_pad;
};

struct	SoftBodyLinkData
{
	SoftBodyMaterialData	*m_material;
	int						m_nodeIndices[2];			// Node pointers
	float					m_restLength;			// Rest length		
	int						m_bbending;		// Bending link
};

struct	SoftBodyFaceData
{
	btVector3FloatData		m_normal;		// Normal
	SoftBodyMaterialData	*m_material;
	int						m_nodeIndices[3];			// Node pointers
	float					m_restArea;			// Rest area
};	

struct	SoftBodyTetraData
{
	btVector3FloatData		m_c0[4];		// gradients
	SoftBodyMaterialData	*m_material;
	int						m_nodeIndices[4];			// Node pointers		
	float					m_restVolume;			// Rest volume
	float					m_c1;			// (4*kVST)/(im0+im1+im2+im3)
	float					m_c2;			// m_c1/sum(|g0..3|^2)
	int						m_pad;
};

struct	SoftRigidAnchorData
{
	btMatrix3x3FloatData	m_c0;			// Impulse matrix
	btVector3FloatData		m_c1;			// Relative anchor
	btVector3FloatData		m_localFrame;		// Anchor position in body space
	btRigidBodyData			*m_rigidBody;
	int						m_nodeIndex;			// Node pointer
	float					m_c2;			// ima*dt
};



struct	SoftBodyConfigData
{
	int					m_aeroModel;		// Aerodynamic model (default: V_Point)
	float				m_baumgarte;			// Velocities correction factor (Baumgarte)
	float				m_damping;			// Damping coefficient [0,1]
	float				m_drag;			// Drag coefficient [0,+inf]
	float				m_lift;			// Lift coefficient [0,+inf]
	float				m_pressure;			// Pressure coefficient [-inf,+inf]
	float				m_volume;			// Volume conversation coefficient [0,+inf]
	float				m_dynamicFriction;			// Dynamic friction coefficient [0,1]
	float				m_poseMatch;			// Pose matching coefficient [0,1]		
	float				m_rigidContactHardness;			// Rigid contacts hardness [0,1]
	float				m_kineticContactHardness;			// Kinetic contacts hardness [0,1]
	float				m_softContactHardness;			// Soft contacts hardness [0,1]
	float				m_anchorHardness;			// Anchors hardness [0,1]
	float				m_softRigidClusterHardness;		// Soft vs rigid hardness [0,1] (cluster only)
	float				m_softKineticClusterHardness;		// Soft vs kinetic hardness [0,1] (cluster only)
	float				m_softSoftClusterHardness;		// Soft vs soft hardness [0,1] (cluster only)
	float				m_softRigidClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
	float				m_softKineticClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
	float				m_softSoftClusterImpulseSplit;	// Soft vs rigid impulse split [0,1] (cluster only)
	float				m_maxVolume;		// Maximum volume ratio for pose
	float				m_timeScale;		// Time scale
	int					m_velocityIterations;	// Velocities solver iterations
	int					m_positionIterations;	// Positions solver iterations
	int					m_driftIterations;	// Drift solver iterations
	int					m_clusterIterations;	// Cluster solver iterations
	int					m_collisionFlags;	// Collisions flags
};

struct	SoftBodyPoseData
{
	btMatrix3x3FloatData	m_rot;			// Rotation
	btMatrix3x3FloatData	m_scale;			// Scale
	btMatrix3x3FloatData	m_aqq;			// Base scaling
	btVector3FloatData		m_com;			// COM

	btVector3FloatData		*m_positions;			// Reference positions
	float					*m_weights;	// Weights
	int						m_numPositions;
	int						m_numWeigts;

	int						m_bvolume;		// Is valid
	int						m_bframe;		// Is frame
	float					m_restVolume;		// Rest volume
	int						m_pad;
};

struct	SoftBodyClusterData
{
		btTransformFloatData		m_framexform;
		btMatrix3x3FloatData		m_locii;
		btMatrix3x3FloatData		m_invwi;
		btVector3FloatData			m_com;
		btVector3FloatData			m_vimpulses[2];
		btVector3FloatData			m_dimpulses[2];
		btVector3FloatData			m_lv;
		btVector3FloatData			m_av;
		
		btVector3FloatData			*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;
};


enum	btSoftJointBodyType
{
	BT_JOINT_SOFT_BODY_CLUSTER=1,
	BT_JOINT_RIGID_BODY,
	BT_JOINT_COLLISION_OBJECT
};

struct	btSoftBodyJointData
{
	void						*m_bodyA;
	void						*m_bodyB;
	btVector3FloatData			m_refs[2];
	float						m_cfm;
	float						m_erp;
	float						m_split;
	int							m_delete;
	btVector3FloatData			m_relPosition[2];//linear
	int							m_bodyAtype;
	int							m_bodyBtype;
	int							m_jointType;
	int							m_pad;
};

///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct	btSoftBodyFloatData
{
	btCollisionObjectFloatData	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;
	btSoftBodyJointData		*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 //BT_SOFTBODY_FLOAT_DATA