btSoftBodyData.h

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/*
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;
};

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