00001 /* 00002 Bullet Continuous Collision Detection and Physics Library 00003 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ 00004 00005 This software is provided 'as-is', without any express or implied warranty. 00006 In no event will the authors be held liable for any damages arising from the use of this software. 00007 Permission is granted to anyone to use this software for any purpose, 00008 including commercial applications, and to alter it and redistribute it freely, 00009 subject to the following restrictions: 00010 00011 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. 00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 00013 3. This notice may not be removed or altered from any source distribution. 00014 */ 00015 00016 #ifndef BT_SOFTBODY_FLOAT_DATA 00017 #define BT_SOFTBODY_FLOAT_DATA 00018 00019 #include "BulletCollision/CollisionDispatch/btCollisionObject.h" 00020 00021 00022 00023 struct SoftBodyMaterialData 00024 { 00025 float m_linearStiffness; 00026 float m_angularStiffness; 00027 float m_volumeStiffness; 00028 int m_flags; 00029 }; 00030 00031 struct SoftBodyNodeData 00032 { 00033 SoftBodyMaterialData *m_material; 00034 btVector3FloatData m_position; 00035 btVector3FloatData m_previousPosition; 00036 btVector3FloatData m_velocity; 00037 btVector3FloatData m_accumulatedForce; 00038 btVector3FloatData m_normal; 00039 float m_inverseMass; 00040 float m_area; 00041 int m_attach; 00042 int m_pad; 00043 }; 00044 00045 struct SoftBodyLinkData 00046 { 00047 SoftBodyMaterialData *m_material; 00048 int m_nodeIndices[2]; // Node pointers 00049 float m_restLength; // Rest length 00050 int m_bbending; // Bending link 00051 }; 00052 00053 struct SoftBodyFaceData 00054 { 00055 btVector3FloatData m_normal; // Normal 00056 SoftBodyMaterialData *m_material; 00057 int m_nodeIndices[3]; // Node pointers 00058 float m_restArea; // Rest area 00059 }; 00060 00061 struct SoftBodyTetraData 00062 { 00063 btVector3FloatData m_c0[4]; // gradients 00064 SoftBodyMaterialData *m_material; 00065 int m_nodeIndices[4]; // Node pointers 00066 float m_restVolume; // Rest volume 00067 float m_c1; // (4*kVST)/(im0+im1+im2+im3) 00068 float m_c2; // m_c1/sum(|g0..3|^2) 00069 int m_pad; 00070 }; 00071 00072 struct SoftRigidAnchorData 00073 { 00074 btMatrix3x3FloatData m_c0; // Impulse matrix 00075 btVector3FloatData m_c1; // Relative anchor 00076 btVector3FloatData m_localFrame; // Anchor position in body space 00077 btRigidBodyData *m_rigidBody; 00078 int m_nodeIndex; // Node pointer 00079 float m_c2; // ima*dt 00080 }; 00081 00082 00083 00084 struct SoftBodyConfigData 00085 { 00086 int m_aeroModel; // Aerodynamic model (default: V_Point) 00087 float m_baumgarte; // Velocities correction factor (Baumgarte) 00088 float m_damping; // Damping coefficient [0,1] 00089 float m_drag; // Drag coefficient [0,+inf] 00090 float m_lift; // Lift coefficient [0,+inf] 00091 float m_pressure; // Pressure coefficient [-inf,+inf] 00092 float m_volume; // Volume conversation coefficient [0,+inf] 00093 float m_dynamicFriction; // Dynamic friction coefficient [0,1] 00094 float m_poseMatch; // Pose matching coefficient [0,1] 00095 float m_rigidContactHardness; // Rigid contacts hardness [0,1] 00096 float m_kineticContactHardness; // Kinetic contacts hardness [0,1] 00097 float m_softContactHardness; // Soft contacts hardness [0,1] 00098 float m_anchorHardness; // Anchors hardness [0,1] 00099 float m_softRigidClusterHardness; // Soft vs rigid hardness [0,1] (cluster only) 00100 float m_softKineticClusterHardness; // Soft vs kinetic hardness [0,1] (cluster only) 00101 float m_softSoftClusterHardness; // Soft vs soft hardness [0,1] (cluster only) 00102 float m_softRigidClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) 00103 float m_softKineticClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) 00104 float m_softSoftClusterImpulseSplit; // Soft vs rigid impulse split [0,1] (cluster only) 00105 float m_maxVolume; // Maximum volume ratio for pose 00106 float m_timeScale; // Time scale 00107 int m_velocityIterations; // Velocities solver iterations 00108 int m_positionIterations; // Positions solver iterations 00109 int m_driftIterations; // Drift solver iterations 00110 int m_clusterIterations; // Cluster solver iterations 00111 int m_collisionFlags; // Collisions flags 00112 }; 00113 00114 struct SoftBodyPoseData 00115 { 00116 btMatrix3x3FloatData m_rot; // Rotation 00117 btMatrix3x3FloatData m_scale; // Scale 00118 btMatrix3x3FloatData m_aqq; // Base scaling 00119 btVector3FloatData m_com; // COM 00120 00121 btVector3FloatData *m_positions; // Reference positions 00122 float *m_weights; // Weights 00123 int m_numPositions; 00124 int m_numWeigts; 00125 00126 int m_bvolume; // Is valid 00127 int m_bframe; // Is frame 00128 float m_restVolume; // Rest volume 00129 int m_pad; 00130 }; 00131 00132 struct SoftBodyClusterData 00133 { 00134 btTransformFloatData m_framexform; 00135 btMatrix3x3FloatData m_locii; 00136 btMatrix3x3FloatData m_invwi; 00137 btVector3FloatData m_com; 00138 btVector3FloatData m_vimpulses[2]; 00139 btVector3FloatData m_dimpulses[2]; 00140 btVector3FloatData m_lv; 00141 btVector3FloatData m_av; 00142 00143 btVector3FloatData *m_framerefs; 00144 int *m_nodeIndices; 00145 float *m_masses; 00146 00147 int m_numFrameRefs; 00148 int m_numNodes; 00149 int m_numMasses; 00150 00151 float m_idmass; 00152 float m_imass; 00153 int m_nvimpulses; 00154 int m_ndimpulses; 00155 float m_ndamping; 00156 float m_ldamping; 00157 float m_adamping; 00158 float m_matching; 00159 float m_maxSelfCollisionImpulse; 00160 float m_selfCollisionImpulseFactor; 00161 int m_containsAnchor; 00162 int m_collide; 00163 int m_clusterIndex; 00164 }; 00165 00166 00167 enum btSoftJointBodyType 00168 { 00169 BT_JOINT_SOFT_BODY_CLUSTER=1, 00170 BT_JOINT_RIGID_BODY, 00171 BT_JOINT_COLLISION_OBJECT 00172 }; 00173 00174 struct btSoftBodyJointData 00175 { 00176 void *m_bodyA; 00177 void *m_bodyB; 00178 btVector3FloatData m_refs[2]; 00179 float m_cfm; 00180 float m_erp; 00181 float m_split; 00182 int m_delete; 00183 btVector3FloatData m_relPosition[2];//linear 00184 int m_bodyAtype; 00185 int m_bodyBtype; 00186 int m_jointType; 00187 int m_pad; 00188 }; 00189 00191 struct btSoftBodyFloatData 00192 { 00193 btCollisionObjectFloatData m_collisionObjectData; 00194 00195 SoftBodyPoseData *m_pose; 00196 SoftBodyMaterialData **m_materials; 00197 SoftBodyNodeData *m_nodes; 00198 SoftBodyLinkData *m_links; 00199 SoftBodyFaceData *m_faces; 00200 SoftBodyTetraData *m_tetrahedra; 00201 SoftRigidAnchorData *m_anchors; 00202 SoftBodyClusterData *m_clusters; 00203 btSoftBodyJointData *m_joints; 00204 00205 int m_numMaterials; 00206 int m_numNodes; 00207 int m_numLinks; 00208 int m_numFaces; 00209 int m_numTetrahedra; 00210 int m_numAnchors; 00211 int m_numClusters; 00212 int m_numJoints; 00213 SoftBodyConfigData m_config; 00214 }; 00215 00216 #endif //BT_SOFTBODY_FLOAT_DATA 00217
