/usr/include/bullet/BulletFileLoader/autogenerated/bullet.h is in libbullet-extras-dev 2.83.6+dfsg-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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1422 1423 1424 1425 1426 | /* 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 __BULLET_H__
#define __BULLET_H__
namespace Bullet {
// put an empty struct in the case
typedef struct bInvalidHandle {
int unused;
}bInvalidHandle;
class PointerArray;
class btPhysicsSystem;
class ListBase;
class btVector3FloatData;
class btVector3DoubleData;
class btQuaternionFloatData;
class btQuaternionDoubleData;
class btMatrix3x3FloatData;
class btMatrix3x3DoubleData;
class btTransformFloatData;
class btTransformDoubleData;
class btBvhSubtreeInfoData;
class btOptimizedBvhNodeFloatData;
class btOptimizedBvhNodeDoubleData;
class btQuantizedBvhNodeData;
class btQuantizedBvhFloatData;
class btQuantizedBvhDoubleData;
class btCollisionShapeData;
class btStaticPlaneShapeData;
class btConvexInternalShapeData;
class btPositionAndRadius;
class btMultiSphereShapeData;
class btIntIndexData;
class btShortIntIndexData;
class btShortIntIndexTripletData;
class btCharIndexTripletData;
class btMeshPartData;
class btStridingMeshInterfaceData;
class btTriangleMeshShapeData;
class btScaledTriangleMeshShapeData;
class btCompoundShapeChildData;
class btCompoundShapeData;
class btCylinderShapeData;
class btConeShapeData;
class btCapsuleShapeData;
class btTriangleInfoData;
class btTriangleInfoMapData;
class btGImpactMeshShapeData;
class btConvexHullShapeData;
class btCollisionObjectDoubleData;
class btCollisionObjectFloatData;
class btDynamicsWorldDoubleData;
class btDynamicsWorldFloatData;
class btRigidBodyFloatData;
class btRigidBodyDoubleData;
class btConstraintInfo1;
class btTypedConstraintFloatData;
class btTypedConstraintData;
class btTypedConstraintDoubleData;
class btPoint2PointConstraintFloatData;
class btPoint2PointConstraintDoubleData2;
class btPoint2PointConstraintDoubleData;
class btHingeConstraintDoubleData;
class btHingeConstraintFloatData;
class btHingeConstraintDoubleData2;
class btConeTwistConstraintDoubleData;
class btConeTwistConstraintData;
class btGeneric6DofConstraintData;
class btGeneric6DofConstraintDoubleData2;
class btGeneric6DofSpringConstraintData;
class btGeneric6DofSpringConstraintDoubleData2;
class btGeneric6DofSpring2ConstraintData;
class btGeneric6DofSpring2ConstraintDoubleData2;
class btSliderConstraintData;
class btSliderConstraintDoubleData;
class btGearConstraintFloatData;
class btGearConstraintDoubleData;
class btContactSolverInfoDoubleData;
class btContactSolverInfoFloatData;
class SoftBodyMaterialData;
class SoftBodyNodeData;
class SoftBodyLinkData;
class SoftBodyFaceData;
class SoftBodyTetraData;
class SoftRigidAnchorData;
class SoftBodyConfigData;
class SoftBodyPoseData;
class SoftBodyClusterData;
class btSoftBodyJointData;
class btSoftBodyFloatData;
class btMultiBodyLinkDoubleData;
class btMultiBodyLinkFloatData;
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
// -------------------------------------------------- //
class PointerArray
{
public:
int m_size;
int m_capacity;
void *m_data;
};
// -------------------------------------------------- //
class btPhysicsSystem
{
public:
PointerArray m_collisionShapes;
PointerArray m_collisionObjects;
PointerArray m_constraints;
};
// -------------------------------------------------- //
class ListBase
{
public:
void *first;
void *last;
};
// -------------------------------------------------- //
class btVector3FloatData
{
public:
float m_floats[4];
};
// -------------------------------------------------- //
class btVector3DoubleData
{
public:
double m_floats[4];
};
// -------------------------------------------------- //
class btQuaternionFloatData
{
public:
float m_floats[4];
};
// -------------------------------------------------- //
class btQuaternionDoubleData
{
public:
double m_floats[4];
};
// -------------------------------------------------- //
class btMatrix3x3FloatData
{
public:
btVector3FloatData m_el[3];
};
// -------------------------------------------------- //
class btMatrix3x3DoubleData
{
public:
btVector3DoubleData m_el[3];
};
// -------------------------------------------------- //
class btTransformFloatData
{
public:
btMatrix3x3FloatData m_basis;
btVector3FloatData m_origin;
};
// -------------------------------------------------- //
class btTransformDoubleData
{
public:
btMatrix3x3DoubleData m_basis;
btVector3DoubleData m_origin;
};
// -------------------------------------------------- //
class btBvhSubtreeInfoData
{
public:
int m_rootNodeIndex;
int m_subtreeSize;
short m_quantizedAabbMin[3];
short m_quantizedAabbMax[3];
};
// -------------------------------------------------- //
class btOptimizedBvhNodeFloatData
{
public:
btVector3FloatData m_aabbMinOrg;
btVector3FloatData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
// -------------------------------------------------- //
class btOptimizedBvhNodeDoubleData
{
public:
btVector3DoubleData m_aabbMinOrg;
btVector3DoubleData m_aabbMaxOrg;
int m_escapeIndex;
int m_subPart;
int m_triangleIndex;
char m_pad[4];
};
// -------------------------------------------------- //
class btQuantizedBvhNodeData
{
public:
short m_quantizedAabbMin[3];
short m_quantizedAabbMax[3];
int m_escapeIndexOrTriangleIndex;
};
// -------------------------------------------------- //
class btQuantizedBvhFloatData
{
public:
btVector3FloatData m_bvhAabbMin;
btVector3FloatData m_bvhAabbMax;
btVector3FloatData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeFloatData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
};
// -------------------------------------------------- //
class btQuantizedBvhDoubleData
{
public:
btVector3DoubleData m_bvhAabbMin;
btVector3DoubleData m_bvhAabbMax;
btVector3DoubleData m_bvhQuantization;
int m_curNodeIndex;
int m_useQuantization;
int m_numContiguousLeafNodes;
int m_numQuantizedContiguousNodes;
btOptimizedBvhNodeDoubleData *m_contiguousNodesPtr;
btQuantizedBvhNodeData *m_quantizedContiguousNodesPtr;
int m_traversalMode;
int m_numSubtreeHeaders;
btBvhSubtreeInfoData *m_subTreeInfoPtr;
};
// -------------------------------------------------- //
class btCollisionShapeData
{
public:
char *m_name;
int m_shapeType;
char m_padding[4];
};
// -------------------------------------------------- //
class btStaticPlaneShapeData
{
public:
btCollisionShapeData m_collisionShapeData;
btVector3FloatData m_localScaling;
btVector3FloatData m_planeNormal;
float m_planeConstant;
char m_pad[4];
};
// -------------------------------------------------- //
class btConvexInternalShapeData
{
public:
btCollisionShapeData m_collisionShapeData;
btVector3FloatData m_localScaling;
btVector3FloatData m_implicitShapeDimensions;
float m_collisionMargin;
int m_padding;
};
// -------------------------------------------------- //
class btPositionAndRadius
{
public:
btVector3FloatData m_pos;
float m_radius;
};
// -------------------------------------------------- //
class btMultiSphereShapeData
{
public:
btConvexInternalShapeData m_convexInternalShapeData;
btPositionAndRadius *m_localPositionArrayPtr;
int m_localPositionArraySize;
char m_padding[4];
};
// -------------------------------------------------- //
class btIntIndexData
{
public:
int m_value;
};
// -------------------------------------------------- //
class btShortIntIndexData
{
public:
short m_value;
char m_pad[2];
};
// -------------------------------------------------- //
class btShortIntIndexTripletData
{
public:
short m_values[3];
char m_pad[2];
};
// -------------------------------------------------- //
class btCharIndexTripletData
{
public:
char m_values[3];
char m_pad;
};
// -------------------------------------------------- //
class btMeshPartData
{
public:
btVector3FloatData *m_vertices3f;
btVector3DoubleData *m_vertices3d;
btIntIndexData *m_indices32;
btShortIntIndexTripletData *m_3indices16;
btCharIndexTripletData *m_3indices8;
btShortIntIndexData *m_indices16;
int m_numTriangles;
int m_numVertices;
};
// -------------------------------------------------- //
class btStridingMeshInterfaceData
{
public:
btMeshPartData *m_meshPartsPtr;
btVector3FloatData m_scaling;
int m_numMeshParts;
char m_padding[4];
};
// -------------------------------------------------- //
class btTriangleMeshShapeData
{
public:
btCollisionShapeData m_collisionShapeData;
btStridingMeshInterfaceData m_meshInterface;
btQuantizedBvhFloatData *m_quantizedFloatBvh;
btQuantizedBvhDoubleData *m_quantizedDoubleBvh;
btTriangleInfoMapData *m_triangleInfoMap;
float m_collisionMargin;
char m_pad3[4];
};
// -------------------------------------------------- //
class btScaledTriangleMeshShapeData
{
public:
btTriangleMeshShapeData m_trimeshShapeData;
btVector3FloatData m_localScaling;
};
// -------------------------------------------------- //
class btCompoundShapeChildData
{
public:
btTransformFloatData m_transform;
btCollisionShapeData *m_childShape;
int m_childShapeType;
float m_childMargin;
};
// -------------------------------------------------- //
class btCompoundShapeData
{
public:
btCollisionShapeData m_collisionShapeData;
btCompoundShapeChildData *m_childShapePtr;
int m_numChildShapes;
float m_collisionMargin;
};
// -------------------------------------------------- //
class btCylinderShapeData
{
public:
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
// -------------------------------------------------- //
class btConeShapeData
{
public:
btConvexInternalShapeData m_convexInternalShapeData;
int m_upIndex;
char m_padding[4];
};
// -------------------------------------------------- //
class btCapsuleShapeData
{
public:
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
// -------------------------------------------------- //
class btTriangleInfoData
{
public:
int m_flags;
float m_edgeV0V1Angle;
float m_edgeV1V2Angle;
float m_edgeV2V0Angle;
};
// -------------------------------------------------- //
class btTriangleInfoMapData
{
public:
int *m_hashTablePtr;
int *m_nextPtr;
btTriangleInfoData *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 btGImpactMeshShapeData
{
public:
btCollisionShapeData m_collisionShapeData;
btStridingMeshInterfaceData m_meshInterface;
btVector3FloatData m_localScaling;
float m_collisionMargin;
int m_gimpactSubType;
};
// -------------------------------------------------- //
class btConvexHullShapeData
{
public:
btConvexInternalShapeData m_convexInternalShapeData;
btVector3FloatData *m_unscaledPointsFloatPtr;
btVector3DoubleData *m_unscaledPointsDoublePtr;
int m_numUnscaledPoints;
char m_padding3[4];
};
// -------------------------------------------------- //
class btCollisionObjectDoubleData
{
public:
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformDoubleData m_worldTransform;
btTransformDoubleData m_interpolationWorldTransform;
btVector3DoubleData m_interpolationLinearVelocity;
btVector3DoubleData m_interpolationAngularVelocity;
btVector3DoubleData 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 btCollisionObjectFloatData
{
public:
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
char *m_name;
btTransformFloatData m_worldTransform;
btTransformFloatData m_interpolationWorldTransform;
btVector3FloatData m_interpolationLinearVelocity;
btVector3FloatData m_interpolationAngularVelocity;
btVector3FloatData 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 btRigidBodyFloatData
{
public:
btCollisionObjectFloatData m_collisionObjectData;
btMatrix3x3FloatData m_invInertiaTensorWorld;
btVector3FloatData m_linearVelocity;
btVector3FloatData m_angularVelocity;
btVector3FloatData m_angularFactor;
btVector3FloatData m_linearFactor;
btVector3FloatData m_gravity;
btVector3FloatData m_gravity_acceleration;
btVector3FloatData m_invInertiaLocal;
btVector3FloatData m_totalForce;
btVector3FloatData 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 btRigidBodyDoubleData
{
public:
btCollisionObjectDoubleData m_collisionObjectData;
btMatrix3x3DoubleData m_invInertiaTensorWorld;
btVector3DoubleData m_linearVelocity;
btVector3DoubleData m_angularVelocity;
btVector3DoubleData m_angularFactor;
btVector3DoubleData m_linearFactor;
btVector3DoubleData m_gravity;
btVector3DoubleData m_gravity_acceleration;
btVector3DoubleData m_invInertiaLocal;
btVector3DoubleData m_totalForce;
btVector3DoubleData 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 btConstraintInfo1
{
public:
int m_numConstraintRows;
int nub;
};
// -------------------------------------------------- //
class btTypedConstraintFloatData
{
public:
btRigidBodyFloatData *m_rbA;
btRigidBodyFloatData *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 btTypedConstraintData
{
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 btTypedConstraintDoubleData
{
public:
btRigidBodyDoubleData *m_rbA;
btRigidBodyDoubleData *m_rbB;
char *m_name;
int m_objectType;
int m_userConstraintType;
int m_userConstraintId;
int m_needsFeedback;
double m_appliedImpulse;
double m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
int m_overrideNumSolverIterations;
double m_breakingImpulseThreshold;
int m_isEnabled;
char padding[4];
};
// -------------------------------------------------- //
class btPoint2PointConstraintFloatData
{
public:
btTypedConstraintData m_typeConstraintData;
btVector3FloatData m_pivotInA;
btVector3FloatData m_pivotInB;
};
// -------------------------------------------------- //
class btPoint2PointConstraintDoubleData2
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
// -------------------------------------------------- //
class btPoint2PointConstraintDoubleData
{
public:
btTypedConstraintData m_typeConstraintData;
btVector3DoubleData m_pivotInA;
btVector3DoubleData m_pivotInB;
};
// -------------------------------------------------- //
class btHingeConstraintDoubleData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData 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 btHingeConstraintFloatData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData 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 btHingeConstraintDoubleData2
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
int m_useReferenceFrameA;
int m_angularOnly;
int m_enableAngularMotor;
double m_motorTargetVelocity;
double m_maxMotorImpulse;
double m_lowerLimit;
double m_upperLimit;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
char m_padding1[4];
};
// -------------------------------------------------- //
class btConeTwistConstraintDoubleData
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
double m_swingSpan1;
double m_swingSpan2;
double m_twistSpan;
double m_limitSoftness;
double m_biasFactor;
double m_relaxationFactor;
double m_damping;
};
// -------------------------------------------------- //
class btConeTwistConstraintData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData 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 btGeneric6DofConstraintData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData m_rbBFrame;
btVector3FloatData m_linearUpperLimit;
btVector3FloatData m_linearLowerLimit;
btVector3FloatData m_angularUpperLimit;
btVector3FloatData m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGeneric6DofConstraintDoubleData2
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
btVector3DoubleData m_linearUpperLimit;
btVector3DoubleData m_linearLowerLimit;
btVector3DoubleData m_angularUpperLimit;
btVector3DoubleData m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGeneric6DofSpringConstraintData
{
public:
btGeneric6DofConstraintData m_6dofData;
int m_springEnabled[6];
float m_equilibriumPoint[6];
float m_springStiffness[6];
float m_springDamping[6];
};
// -------------------------------------------------- //
class btGeneric6DofSpringConstraintDoubleData2
{
public:
btGeneric6DofConstraintDoubleData2 m_6dofData;
int m_springEnabled[6];
double m_equilibriumPoint[6];
double m_springStiffness[6];
double m_springDamping[6];
};
// -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData m_rbBFrame;
btVector3FloatData m_linearUpperLimit;
btVector3FloatData m_linearLowerLimit;
btVector3FloatData m_linearBounce;
btVector3FloatData m_linearStopERP;
btVector3FloatData m_linearStopCFM;
btVector3FloatData m_linearMotorERP;
btVector3FloatData m_linearMotorCFM;
btVector3FloatData m_linearTargetVelocity;
btVector3FloatData m_linearMaxMotorForce;
btVector3FloatData m_linearServoTarget;
btVector3FloatData m_linearSpringStiffness;
btVector3FloatData m_linearSpringDamping;
btVector3FloatData m_linearEquilibriumPoint;
char m_linearEnableMotor[4];
char m_linearServoMotor[4];
char m_linearEnableSpring[4];
char m_linearSpringStiffnessLimited[4];
char m_linearSpringDampingLimited[4];
char m_padding1[4];
btVector3FloatData m_angularUpperLimit;
btVector3FloatData m_angularLowerLimit;
btVector3FloatData m_angularBounce;
btVector3FloatData m_angularStopERP;
btVector3FloatData m_angularStopCFM;
btVector3FloatData m_angularMotorERP;
btVector3FloatData m_angularMotorCFM;
btVector3FloatData m_angularTargetVelocity;
btVector3FloatData m_angularMaxMotorForce;
btVector3FloatData m_angularServoTarget;
btVector3FloatData m_angularSpringStiffness;
btVector3FloatData m_angularSpringDamping;
btVector3FloatData m_angularEquilibriumPoint;
char m_angularEnableMotor[4];
char m_angularServoMotor[4];
char m_angularEnableSpring[4];
char m_angularSpringStiffnessLimited[4];
char m_angularSpringDampingLimited[4];
int m_rotateOrder;
};
// -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintDoubleData2
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
btVector3DoubleData m_linearUpperLimit;
btVector3DoubleData m_linearLowerLimit;
btVector3DoubleData m_linearBounce;
btVector3DoubleData m_linearStopERP;
btVector3DoubleData m_linearStopCFM;
btVector3DoubleData m_linearMotorERP;
btVector3DoubleData m_linearMotorCFM;
btVector3DoubleData m_linearTargetVelocity;
btVector3DoubleData m_linearMaxMotorForce;
btVector3DoubleData m_linearServoTarget;
btVector3DoubleData m_linearSpringStiffness;
btVector3DoubleData m_linearSpringDamping;
btVector3DoubleData m_linearEquilibriumPoint;
char m_linearEnableMotor[4];
char m_linearServoMotor[4];
char m_linearEnableSpring[4];
char m_linearSpringStiffnessLimited[4];
char m_linearSpringDampingLimited[4];
char m_padding1[4];
btVector3DoubleData m_angularUpperLimit;
btVector3DoubleData m_angularLowerLimit;
btVector3DoubleData m_angularBounce;
btVector3DoubleData m_angularStopERP;
btVector3DoubleData m_angularStopCFM;
btVector3DoubleData m_angularMotorERP;
btVector3DoubleData m_angularMotorCFM;
btVector3DoubleData m_angularTargetVelocity;
btVector3DoubleData m_angularMaxMotorForce;
btVector3DoubleData m_angularServoTarget;
btVector3DoubleData m_angularSpringStiffness;
btVector3DoubleData m_angularSpringDamping;
btVector3DoubleData m_angularEquilibriumPoint;
char m_angularEnableMotor[4];
char m_angularServoMotor[4];
char m_angularEnableSpring[4];
char m_angularSpringStiffnessLimited[4];
char m_angularSpringDampingLimited[4];
int m_rotateOrder;
};
// -------------------------------------------------- //
class btSliderConstraintData
{
public:
btTypedConstraintData m_typeConstraintData;
btTransformFloatData m_rbAFrame;
btTransformFloatData m_rbBFrame;
float m_linearUpperLimit;
float m_linearLowerLimit;
float m_angularUpperLimit;
float m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btSliderConstraintDoubleData
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btTransformDoubleData m_rbAFrame;
btTransformDoubleData m_rbBFrame;
double m_linearUpperLimit;
double m_linearLowerLimit;
double m_angularUpperLimit;
double m_angularLowerLimit;
int m_useLinearReferenceFrameA;
int m_useOffsetForConstraintFrame;
};
// -------------------------------------------------- //
class btGearConstraintFloatData
{
public:
btTypedConstraintFloatData m_typeConstraintData;
btVector3FloatData m_axisInA;
btVector3FloatData m_axisInB;
float m_ratio;
char m_padding[4];
};
// -------------------------------------------------- //
class btGearConstraintDoubleData
{
public:
btTypedConstraintDoubleData m_typeConstraintData;
btVector3DoubleData m_axisInA;
btVector3DoubleData m_axisInB;
double m_ratio;
};
// -------------------------------------------------- //
class btContactSolverInfoDoubleData
{
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 btContactSolverInfoFloatData
{
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 btDynamicsWorldDoubleData
{
public:
btContactSolverInfoDoubleData m_solverInfo;
btVector3DoubleData m_gravity;
};
// -------------------------------------------------- //
class btDynamicsWorldFloatData
{
public:
btContactSolverInfoFloatData m_solverInfo;
btVector3FloatData m_gravity;
};
// -------------------------------------------------- //
class SoftBodyMaterialData
{
public:
float m_linearStiffness;
float m_angularStiffness;
float m_volumeStiffness;
int m_flags;
};
// -------------------------------------------------- //
class SoftBodyNodeData
{
public:
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;
};
// -------------------------------------------------- //
class SoftBodyLinkData
{
public:
SoftBodyMaterialData *m_material;
int m_nodeIndices[2];
float m_restLength;
int m_bbending;
};
// -------------------------------------------------- //
class SoftBodyFaceData
{
public:
btVector3FloatData m_normal;
SoftBodyMaterialData *m_material;
int m_nodeIndices[3];
float m_restArea;
};
// -------------------------------------------------- //
class SoftBodyTetraData
{
public:
btVector3FloatData 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:
btMatrix3x3FloatData m_c0;
btVector3FloatData m_c1;
btVector3FloatData 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:
btMatrix3x3FloatData m_rot;
btMatrix3x3FloatData m_scale;
btMatrix3x3FloatData m_aqq;
btVector3FloatData m_com;
btVector3FloatData *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:
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;
};
// -------------------------------------------------- //
class btSoftBodyJointData
{
public:
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];
int m_bodyAtype;
int m_bodyBtype;
int m_jointType;
int m_pad;
};
// -------------------------------------------------- //
class btSoftBodyFloatData
{
public:
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;
};
// -------------------------------------------------- //
class btMultiBodyLinkDoubleData
{
public:
btQuaternionDoubleData m_zeroRotParentToThis;
btVector3DoubleData m_parentComToThisComOffset;
btVector3DoubleData m_thisPivotToThisComOffset;
btVector3DoubleData m_jointAxisTop[6];
btVector3DoubleData m_jointAxisBottom[6];
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
btVector3DoubleData m_linkInertia;
double m_linkMass;
int m_parentIndex;
int m_jointType;
int m_dofCount;
int m_posVarCount;
double m_jointPos[7];
double m_jointVel[6];
double m_jointTorque[6];
};
// -------------------------------------------------- //
class btMultiBodyLinkFloatData
{
public:
btQuaternionFloatData m_zeroRotParentToThis;
btVector3FloatData m_parentComToThisComOffset;
btVector3FloatData m_thisPivotToThisComOffset;
btVector3FloatData m_jointAxisTop[6];
btVector3FloatData m_jointAxisBottom[6];
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;
btVector3FloatData m_linkInertia;
int m_dofCount;
float m_linkMass;
int m_parentIndex;
int m_jointType;
float m_jointPos[7];
float m_jointVel[6];
float m_jointTorque[6];
int m_posVarCount;
};
// -------------------------------------------------- //
class btMultiBodyDoubleData
{
public:
char *m_baseName;
btMultiBodyLinkDoubleData *m_links;
btCollisionObjectDoubleData *m_baseCollider;
btTransformDoubleData m_baseWorldTransform;
btVector3DoubleData m_baseInertia;
int m_numLinks;
double m_baseMass;
char m_padding[4];
};
// -------------------------------------------------- //
class btMultiBodyFloatData
{
public:
char *m_baseName;
btMultiBodyLinkFloatData *m_links;
btCollisionObjectFloatData *m_baseCollider;
btTransformFloatData m_baseWorldTransform;
btVector3FloatData m_baseInertia;
float m_baseMass;
int m_numLinks;
};
}
#endif//__BULLET_H__
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