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Diffstat (limited to 'thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 167 |
1 files changed, 167 insertions, 0 deletions
diff --git a/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h new file mode 100644 index 0000000000..28d0c1dd48 --- /dev/null +++ b/thirdparty/bullet/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -0,0 +1,167 @@ +/* +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_CONTACT_SOLVER_INFO +#define BT_CONTACT_SOLVER_INFO + +#include "LinearMath/btScalar.h" + +enum btSolverMode +{ + SOLVER_RANDMIZE_ORDER = 1, + SOLVER_FRICTION_SEPARATE = 2, + SOLVER_USE_WARMSTARTING = 4, + SOLVER_USE_2_FRICTION_DIRECTIONS = 16, + SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32, + SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64, + SOLVER_CACHE_FRIENDLY = 128, + SOLVER_SIMD = 256, + SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, + SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 +}; + +struct btContactSolverInfoData +{ + + + btScalar m_tau; + btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + btScalar m_friction; + btScalar m_timeStep; + btScalar m_restitution; + int m_numIterations; + btScalar m_maxErrorReduction; + 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_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 + + int m_splitImpulse; + btScalar m_splitImpulsePenetrationThreshold; + btScalar m_splitImpulseTurnErp; + btScalar m_linearSlop; + btScalar m_warmstartingFactor; + + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + btScalar m_maxGyroscopicForce; + btScalar m_singleAxisRollingFrictionThreshold; + btScalar m_leastSquaresResidualThreshold; + btScalar m_restitutionVelocityThreshold; + +}; + +struct btContactSolverInfo : public btContactSolverInfoData +{ + + + + inline btContactSolverInfo() + { + m_tau = btScalar(0.6); + m_damping = btScalar(1.0); + m_friction = btScalar(0.3); + m_timeStep = btScalar(1.f/60.f); + m_restitution = btScalar(0.); + m_maxErrorReduction = btScalar(20.); + m_numIterations = 10; + m_erp = btScalar(0.2); + m_erp2 = btScalar(0.2); + m_globalCfm = btScalar(0.); + m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default + m_frictionCFM = btScalar(0.); + m_sor = btScalar(1.); + m_splitImpulse = true; + m_splitImpulsePenetrationThreshold = -.04f; + m_splitImpulseTurnErp = 0.1f; + m_linearSlop = btScalar(0.0); + m_warmstartingFactor=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 + m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force + m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. + m_leastSquaresResidualThreshold = 0.f; + m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution + } +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btContactSolverInfoDoubleData +{ + 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;///it is only used for 'explicit' version of gyroscopic force + 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 btContactSolverInfoFloatData +{ + 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 //BT_CONTACT_SOLVER_INFO |