diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 63d7c98e16..4356c12abf 100644 --- a/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/thirdparty/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -30,7 +30,8 @@ enum btSolverMode SOLVER_SIMD = 256, SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024, - SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048 + SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048, + SOLVER_USE_ARTICULATED_WARMSTARTING = 4096, }; struct btContactSolverInfoData @@ -45,6 +46,7 @@ struct btContactSolverInfoData btScalar m_sor; //successive over-relaxation term btScalar m_erp; //error reduction for non-contact constraints btScalar m_erp2; //error reduction for contact constraints + btScalar m_deformable_erp; //error reduction for deformable constraints btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts btScalar m_frictionERP; //error reduction for friction constraints btScalar m_frictionCFM; //constraint force mixing for friction constraints @@ -54,7 +56,7 @@ struct btContactSolverInfoData btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; - + btScalar m_articulatedWarmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; @@ -65,6 +67,7 @@ struct btContactSolverInfoData bool m_jointFeedbackInWorldSpace; bool m_jointFeedbackInJointFrame; int m_reportSolverAnalytics; + int m_numNonContactInnerIterations; }; struct btContactSolverInfo : public btContactSolverInfoData @@ -80,6 +83,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.2); + m_deformable_erp = btScalar(0.1); m_globalCfm = btScalar(0.); m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default m_frictionCFM = btScalar(0.); @@ -89,6 +93,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81 @@ -100,6 +105,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_jointFeedbackInWorldSpace = false; m_jointFeedbackInJointFrame = false; m_reportSolverAnalytics = 0; + m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve } }; @@ -120,6 +126,7 @@ struct btContactSolverInfoDoubleData double m_splitImpulseTurnErp; double m_linearSlop; double m_warmstartingFactor; + double m_articulatedWarmstartingFactor; double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force double m_singleAxisRollingFrictionThreshold; @@ -150,16 +157,17 @@ struct btContactSolverInfoFloatData float m_linearSlop; float m_warmstartingFactor; + float m_articulatedWarmstartingFactor; float m_maxGyroscopicForce; - float m_singleAxisRollingFrictionThreshold; + float m_singleAxisRollingFrictionThreshold; int m_numIterations; int m_solverMode; int m_restingContactRestitutionThreshold; - int m_minimumSolverBatchSize; + int m_minimumSolverBatchSize; int m_splitImpulse; - char m_padding[4]; + }; #endif //BT_CONTACT_SOLVER_INFO |