diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h | 172 |
1 files changed, 81 insertions, 91 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h index 7a12257b33..049c9116fd 100644 --- a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h @@ -18,7 +18,7 @@ subject to the following restrictions: #include "Bullet3Common/b3Scalar.h" -enum b3SolverMode +enum b3SolverMode { B3_SOLVER_RANDMIZE_ORDER = 1, B3_SOLVER_FRICTION_SEPARATE = 2, @@ -34,45 +34,38 @@ enum b3SolverMode struct b3ContactSolverInfoData { - - - b3Scalar m_tau; - b3Scalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. - b3Scalar m_friction; - b3Scalar m_timeStep; - b3Scalar m_restitution; - int m_numIterations; - b3Scalar m_maxErrorReduction; - b3Scalar m_sor; - b3Scalar m_erp;//used as Baumgarte factor - b3Scalar m_erp2;//used in Split Impulse - b3Scalar m_globalCfm;//constraint force mixing - int m_splitImpulse; - b3Scalar m_splitImpulsePenetrationThreshold; - b3Scalar m_splitImpulseTurnErp; - b3Scalar m_linearSlop; - b3Scalar m_warmstartingFactor; - - int m_solverMode; - int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; - b3Scalar m_maxGyroscopicForce; - b3Scalar m_singleAxisRollingFrictionThreshold; - - + b3Scalar m_tau; + b3Scalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + b3Scalar m_friction; + b3Scalar m_timeStep; + b3Scalar m_restitution; + int m_numIterations; + b3Scalar m_maxErrorReduction; + b3Scalar m_sor; + b3Scalar m_erp; //used as Baumgarte factor + b3Scalar m_erp2; //used in Split Impulse + b3Scalar m_globalCfm; //constraint force mixing + int m_splitImpulse; + b3Scalar m_splitImpulsePenetrationThreshold; + b3Scalar m_splitImpulseTurnErp; + b3Scalar m_linearSlop; + b3Scalar m_warmstartingFactor; + + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + b3Scalar m_maxGyroscopicForce; + b3Scalar m_singleAxisRollingFrictionThreshold; }; struct b3ContactSolverInfo : public b3ContactSolverInfoData { - - - inline b3ContactSolverInfo() { m_tau = b3Scalar(0.6); m_damping = b3Scalar(1.0); m_friction = b3Scalar(0.3); - m_timeStep = b3Scalar(1.f/60.f); + m_timeStep = b3Scalar(1.f / 60.f); m_restitution = b3Scalar(0.); m_maxErrorReduction = b3Scalar(20.); m_numIterations = 10; @@ -84,76 +77,73 @@ struct b3ContactSolverInfo : public b3ContactSolverInfoData m_splitImpulsePenetrationThreshold = -.04f; m_splitImpulseTurnErp = 0.1f; m_linearSlop = b3Scalar(0.0); - m_warmstartingFactor=b3Scalar(0.85); + m_warmstartingFactor = b3Scalar(0.85); //m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD | B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | B3_SOLVER_RANDMIZE_ORDER; - m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;// | B3_SOLVER_RANDMIZE_ORDER; - m_restingContactRestitutionThreshold = 2;//unused as of 2.81 - m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit - m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag) - m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. + m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD; // | B3_SOLVER_RANDMIZE_ORDER; + m_restingContactRestitutionThreshold = 2; //unused as of 2.81 + m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag) + m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. } }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct b3ContactSolverInfoDoubleData { - double m_tau; - double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. - double m_friction; - double m_timeStep; - double m_restitution; - double m_maxErrorReduction; - double m_sor; - double m_erp;//used as Baumgarte factor - double m_erp2;//used in Split Impulse - double m_globalCfm;//constraint force mixing - 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]; - + double m_tau; + double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + double m_friction; + double m_timeStep; + double m_restitution; + double m_maxErrorReduction; + double m_sor; + double m_erp; //used as Baumgarte factor + double m_erp2; //used in Split Impulse + double m_globalCfm; //constraint force mixing + 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]; }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct b3ContactSolverInfoFloatData { - float m_tau; - float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. - float m_friction; - float m_timeStep; - - float m_restitution; - float m_maxErrorReduction; - float m_sor; - float m_erp;//used as Baumgarte factor - - float m_erp2;//used in Split Impulse - float m_globalCfm;//constraint force mixing - 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]; + float m_tau; + float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + float m_friction; + float m_timeStep; + + float m_restitution; + float m_maxErrorReduction; + float m_sor; + float m_erp; //used as Baumgarte factor + + float m_erp2; //used in Split Impulse + float m_globalCfm; //constraint force mixing + 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]; }; - - -#endif //B3_CONTACT_SOLVER_INFO +#endif //B3_CONTACT_SOLVER_INFO |