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Diffstat (limited to 'thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h | 159 |
1 files changed, 159 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h new file mode 100644 index 0000000000..7a12257b33 --- /dev/null +++ b/thirdparty/bullet/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h @@ -0,0 +1,159 @@ +/* +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 B3_CONTACT_SOLVER_INFO +#define B3_CONTACT_SOLVER_INFO + +#include "Bullet3Common/b3Scalar.h" + +enum b3SolverMode +{ + B3_SOLVER_RANDMIZE_ORDER = 1, + B3_SOLVER_FRICTION_SEPARATE = 2, + B3_SOLVER_USE_WARMSTARTING = 4, + B3_SOLVER_USE_2_FRICTION_DIRECTIONS = 16, + B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32, + B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64, + B3_SOLVER_CACHE_FRIENDLY = 128, + B3_SOLVER_SIMD = 256, + B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, + B3_SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 +}; + +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; + + +}; + +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_restitution = b3Scalar(0.); + m_maxErrorReduction = b3Scalar(20.); + m_numIterations = 10; + m_erp = b3Scalar(0.2); + m_erp2 = b3Scalar(0.8); + m_globalCfm = b3Scalar(0.); + m_sor = b3Scalar(1.); + m_splitImpulse = true; + m_splitImpulsePenetrationThreshold = -.04f; + m_splitImpulseTurnErp = 0.1f; + m_linearSlop = b3Scalar(0.0); + 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. + } +}; + +///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]; + +}; +///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]; +}; + + + +#endif //B3_CONTACT_SOLVER_INFO |