1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
|
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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
|
